相关论文: What Matters in RL-Based Methods for Object-Goal N…

An exciting and promising frontier for Deep Reinforcement Learning (DRL) is its application to real-world robotic systems. While modern DRL approaches achieved remarkable successes in many robotic scenarios (including mobile robotics,…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

Aerial navigation is a fundamental yet underexplored capability in embodied intelligence, enabling agents to operate in large-scale, unstructured environments where traditional navigation paradigms fall short. However, most existing…

End-to-end autonomous driving frameworks face persistent challenges in generalization, training efficiency, and interpretability. While recent methods leverage Vision-Language Models (VLMs) through supervised learning on large-scale…

Vision-Language Navigation (VLN) is evolving from single-point pathfinding toward the more challenging Multi-Goal VLN. This task requires agents to accurately identify multiple entities while collaboratively reasoning over their…

Recent advances at the intersection of reinforcement learning (RL) and visual intelligence have enabled agents that not only perceive complex visual scenes but also reason, generate, and act within them. This survey offers a critical and…

Reinforcement learning (RL) methods for social robot navigation show great success navigating robots through large crowds of people, but the performance of these learning-based methods tends to degrade in particularly challenging or…

Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…

Navigating urban environments represents a complex task for automated vehicles. They must reach their goal safely and efficiently while considering a multitude of traffic participants. We propose a modular decision making algorithm to…

We address the challenge of enhancing navigation autonomy for planetary space rovers using reinforcement learning (RL). The ambition of future space missions necessitates advanced autonomous navigation capabilities for rovers to meet…

Video generation models produce visually coherent content but struggle with tasks requiring spatial reasoning and multi-step planning. Reinforcement learning (RL) offers a path to improve generalization, but its effectiveness in video…

Current deep reinforcement learning (RL) approaches incorporate minimal prior knowledge about the environment, limiting computational and sample efficiency. \textit{Objects} provide a succinct and causal description of the world, and many…

Reinforcement Learning (RL) has achieved significant success in solving single-goal tasks. However, uniform goal selection often results in sample inefficiency in multi-goal settings where agents must learn a universal goal-conditioned…

Reinforcement learning (RL) and trajectory optimization (TO) present strong complementary advantages. On one hand, RL approaches are able to learn global control policies directly from data, but generally require large sample sizes to…

While reinforcement learning provides an appealing formalism for learning individual skills, a general-purpose robotic system must be able to master an extensive repertoire of behaviors. Instead of learning a large collection of skills…

Embodied artificial intelligence (AI) tasks shift from tasks focusing on internet images to active settings involving embodied agents that perceive and act within 3D environments. In this paper, we investigate the target-driven visual…

In the dynamic and uncertain environments where reinforcement learning (RL) operates, risk management becomes a crucial factor in ensuring reliable decision-making. Traditional RL approaches, while effective in reward optimization, often…

Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee coarse, meter-level accuracy, making them less suitable for…

The overarching goal of this work is to efficiently enable end-users to correctly anticipate a robot's behavior in novel situations. Since a robot's behavior is often a direct result of its underlying objective function, our insight is that…

Homing and navigation are fundamental behaviors in biological systems that enable agents to reliably reach a target under uncertainty. We present a Reinforcement Learning (RL) framework to model adaptive homing in continuous two-dimensional…