相关论文: LITE: A Learning-Integrated Topological Explorer f…

This work presents a modular and hierarchical approach to learn policies for exploring 3D environments, called `Active Neural SLAM'. Our approach leverages the strengths of both classical and learning-based methods, by using analytical path…

Creatures in the real world constantly encounter new and diverse challenges they have never seen before. They will often need to adapt to some of these tasks and solve them in order to survive. This almost endless world of novel challenges…

One of the main goals and challenges of materials discovery is to find the best candidates for each interest property or application. Machine learning rises in this context to efficiently optimize this search, exploring the immense…

Recent advances in vision-based navigation and exploration have shown impressive capabilities in photorealistic indoor environments. However, these methods still struggle with long-horizon tasks and require large amounts of data to…

The goal of coordinated multi-robot exploration tasks is to employ a team of autonomous robots to explore an unknown environment as quickly as possible. Compared with human-designed methods, which began with heuristic and rule-based…

Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as robustly merging the sub-maps built by the agents. We take the…

Vision-language models (VLMs) have shown remarkable general capabilities, yet embodied agents built on them fail at complex tasks, often skipping critical steps, proposing invalid actions, and repeating mistakes. These failures arise from a…

This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…

In this work, we propose a deep reinforcement learning (DRL) based reactive planner to solve large-scale Lidar-based autonomous robot exploration problems in 2D action space. Our DRL-based planner allows the agent to reactively plan its…

The thesis contributes in several important ways to the research area of 3D object category learning and recognition. To cope with the mentioned limitations, we look at human cognition, in particular at the fact that human beings learn to…

Multi-task learning has recently emerged as a promising solution for a comprehensive understanding of complex scenes. In addition to being memory-efficient, multi-task models, when appropriately designed, can facilitate the exchange of…

This paper introduces LIVE: Lidar Informed Visual Search focused on the problem of multi-robot (MR) planning and execution for robust visual detection of multiple objects. We perform extensive real-world experiments with a two-robot team in…

Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…

Deployable service and delivery robots struggle to navigate multi-floor buildings to reach object goals, as existing systems fail due to single-floor assumptions and requirements for offline, globally consistent maps. Multi-floor…

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

Exploration of indoor environments has recently experienced a significant interest, also thanks to the introduction of deep neural agents built in a hierarchical fashion and trained with Deep Reinforcement Learning (DRL) on simulated…

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

Despite groundbreaking progress in reinforcement learning for robotics, gameplay, and other complex domains, major challenges remain in applying reinforcement learning to the evolving, open-world problems often found in critical application…