相关论文: Embodied Navigation with Auxiliary Task of Action …

Enabling machines to respond appropriately to natural language commands could greatly expand the number of people to whom they could be of service. Recently, advances in neural network-trained word embeddings have empowered non-embodied…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

Vision-language-action policies learn manipulation skills across tasks, environments and embodiments through large-scale pre-training. However, their ability to generalize to novel robot configurations remains limited. Most approaches…

Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Most prior works on communication in multi-agent reinforcement learning have focused on emergent communication, which often results in inefficient and non-interpretable systems. Inspired by the role of language in natural intelligence, we…

Visual navigation is a task of training an embodied agent by intelligently navigating to a target object (e.g., television) using only visual observations. A key challenge for current deep reinforcement learning models lies in the…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

Robot navigation is a task where reinforcement learning approaches are still unable to compete with traditional path planning. State-of-the-art methods differ in small ways, and do not all provide reproducible, openly available…

Broadly intelligent agents should form task-specific abstractions that selectively expose the essential elements of a task, while abstracting away the complexity of the raw sensorimotor space. In this work, we present Neuro-Symbolic…

We propose a multi-head attention mechanism as a blending layer in a neural network model that translates natural language to a high level behavioral language for indoor robot navigation. We follow the framework established by (Zang et al.,…

This work presents an embodied agent that can adapt its semantic segmentation network to new indoor environments in a fully autonomous way. Because semantic segmentation networks fail to generalize well to unseen environments, the agent…

This paper focuses on robotic reinforcement learning with sparse rewards for natural language goal representations. An open problem is the sample-inefficiency that stems from the compositionality of natural language, and from the grounding…

We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…

This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown dynamics, which are difficult to infer from visual…

Recent advances in the areas of Multimodal Machine Learning and Artificial Intelligence (AI) have led to the development of challenging tasks at the intersection of Computer Vision, Natural Language Processing, and Robotics. Whereas many…

Learning auxiliary tasks, such as multiple predictions about the world, can provide many benefits to reinforcement learning systems. A variety of off-policy learning algorithms have been developed to learn such predictions, but as yet there…

Learning task-oriented dialog policies via reinforcement learning typically requires large amounts of interaction with users, which in practice renders such methods unusable for real-world applications. In order to reduce the data…

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…

Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…