相关论文: Enhancing Reinforcement Learning in 3D Environment…

We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity…

Recent work has shown that reinforcement learning (RL) is a promising approach to control dynamical systems described by partial differential equations (PDE). This paper shows how to use RL to tackle more general PDE control problems that…

Collecting and labeling the registered 3D point cloud is costly. As a result, 3D resources for training are typically limited in quantity compared to the 2D images counterpart. In this work, we deal with the data scarcity challenge of 3D…

In this paper we consider self-supervised representation learning to improve sample efficiency in reinforcement learning (RL). We propose a forward prediction objective for simultaneously learning embeddings of states and action sequences.…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

Spatial understanding remains a weakness of Large Vision-Language Models (LVLMs). Existing supervised fine-tuning (SFT) and recent reinforcement learning with verifiable rewards (RLVR) pipelines depend on costly supervision, specialized…

Space layout design (SLD), occurring in the early stages of the design process, nonetheless influences both the functionality and aesthetics of the ultimate architectural outcome. The complexity of SLD necessitates innovative approaches to…

Reinforcement Learning (RL) is a well-established framework for sequential decision-making in complex environments. However, state-of-the-art Deep RL (DRL) algorithms typically require large training datasets and often struggle to…

This paper delves into the problem of safe reinforcement learning (RL) in a partially observable environment with the aim of achieving safe-reachability objectives. In traditional partially observable Markov decision processes (POMDP),…

A number of recent approaches to policy learning in 2D game domains have been successful going directly from raw input images to actions. However when employed in complex 3D environments, they typically suffer from challenges related to…

In recent years, the paradigm of neural implicit representations has gained substantial attention in the field of Simultaneous Localization and Mapping (SLAM). However, a notable gap exists in the existing approaches when it comes to scene…

We use reinforcement learning in simulation to obtain a driving system controlling a full-size real-world vehicle. The driving policy takes RGB images from a single camera and their semantic segmentation as input. We use mostly synthetic…

Robots equipped with rich sensing modalities (e.g., RGB-D cameras) performing long-horizon tasks motivate the need for policies that are highly memory-efficient. State-of-the-art approaches for controlling robots often use memory…

Drawing upon the intuition that aligning different modalities to the same semantic embedding space would allow models to understand states and actions more easily, we propose a new perspective to the offline reinforcement learning (RL)…

As previous representations for reinforcement learning cannot effectively incorporate a human-intuitive understanding of the 3D environment, they usually suffer from sub-optimal performances. In this paper, we present Semantic-aware Neural…

Recent research highlights the potential of multimodal foundation models in tackling complex decision-making challenges. However, their large parameters make real-world deployment resource-intensive and often impractical for constrained…

The RGB-Depth (RGB-D) Video Object Segmentation (VOS) aims to integrate the fine-grained texture information of RGB with the spatial geometric clues of depth modality, boosting the performance of segmentation. However, off-the-shelf RGB-D…

Most of the approaches for indoor RGBD semantic la- beling focus on using pixels or superpixels to train a classi- fier. In this paper, we implement a higher level segmentation using a hierarchy of superpixels to obtain a better segmen-…

Traditional video reasoning segmentation methods rely on supervised fine-tuning, which limits generalization to out-of-distribution scenarios and lacks explicit reasoning. To address this, we propose \textbf{VideoSeg-R1}, the first…

Reward Machines (RMs) are an established mechanism in Reinforcement Learning (RL) to represent and learn sparse, temporally extended tasks with non-Markovian rewards. RMs rely on high-level information in the form of labels that are emitted…