相关论文: Floor Plan-Guided Visual Navigation Incorporating …

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

We propose Drift-Resistant Navigation World Model, a generative model that mitigates both perceptual drift and geometric drift in conventional rollout-based navigation world models. Existing methods recursively feed generated content into…

Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…

We present an algorithm which combines recent advances in model based path integral control with machine learning approaches to learning forward dynamics models. We take advantage of the parallel computing power of a GPU to quickly take a…

This work studies the challenging problem of acquiring high-quality underwater images via 4-D light field (LF) imaging. To this end, we propose GeoDiff-LF, a novel diffusion-based framework built upon SD-Turbo to enhance underwater 4-D LF…

Visual navigation models often struggle in real-world dynamic environments due to limited robustness to the sim-to-real gap and the difficulty of training policies tailored to target deployment environments (e.g., households, restaurants,…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

We introduce LOG-Nav, an efficient layout-aware object-goal navigation approach designed for complex multi-room indoor environments. By planning hierarchically leveraging a global topologigal map with layout information and local imperative…

We address the problem of multi-modal object tracking in video and explore various options of fusing the complementary information conveyed by the visible (RGB) and thermal infrared (TIR) modalities including pixel-level, feature-level and…

As the burgeoning power requirements of sophisticated neural architectures escalate, the information retrieval community has recognized ecological sustainability as a pivotal priority that necessitates a fundamental paradigm shift in model…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

Macro placement is a pivotal stage in VLSI physical design, fundamentally determining the overall chip performance. Recent data-driven placement methods have demonstrated significant potential, yet they often struggle to handle sequential…

Since a building's floorplans are easily accessible, consistent over time, and inherently robust to changes in visual appearance, self-localization within the floorplan has attracted researchers' interest. However, since floorplans are…

Colonoscopy video generation delivers dynamic, information-rich data critical for diagnosing intestinal diseases, particularly in data-scarce scenarios. High-quality video generation demands temporal consistency and precise control over…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

This paper presents a novel algorithm that utilizes a 2D floorplan to align panorama RGBD scans. While effective panorama RGBD alignment techniques exist, such a system requires extremely dense RGBD image sampling. Our approach can…

We present a novel multi-view implicit surface reconstruction technique, termed StreetSurf, that is readily applicable to street view images in widely-used autonomous driving datasets, such as Waymo-perception sequences, without necessarily…

Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…

In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…

Polarization-aware Neural Radiance Fields (NeRF) enable novel view synthesis of specular-reflection scenes but face challenges in slow training, inefficient rendering, and strong dependencies on material/viewpoint assumptions. However, 3D…