相关论文: TP-MDDN: Task-Preferenced Multi-Demand-Driven Navi…

We propose a neural network architecture, called TransNet, that combines planning and model learning for solving Partially Observable Markov Decision Processes (POMDPs) with non-uniform system dynamics. The past decade has seen a…

Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within fixed free workspace, therefore struggling in environments lacking viable paths…

Safe and efficient multi-agent navigation in dynamic environments remains inherently challenging, particularly when real-time decision-making is required on resource-constrained platforms. Ensuring collision-free trajectories while adapting…

Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…

Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…

For long-duration operations in GPS-denied environments, accurate and repeatable waypoint navigation is an essential capability. While simultaneous localization and mapping (SLAM) works well for single-session operations, repeated,…

Vision-Language Navigation (VLN) requires agents to follow natural language instructions in partially observed 3D environments, motivating map representations that aggregate spatial context beyond local perception. However, most existing…

Alternating Direction Method of Multipliers (ADMM) has been used successfully in many conventional machine learning applications and is considered to be a useful alternative to Stochastic Gradient Descent (SGD) as a deep learning optimizer.…

Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…

Attention modules for Convolutional Neural Networks (CNNs) are an effective method to enhance performance on multiple computer-vision tasks. While existing methods appropriately model channel-, spatial- and self-attention, they primarily…

Making accurate motion prediction of surrounding agents such as pedestrians and vehicles is a critical task when robots are trying to perform autonomous navigation tasks. Recent research on multi-modal trajectory prediction, including…

LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN) task. However, existing LLM-based methods often focus only on solving high-level task planning by selecting nodes in predefined…

Task offloading is of paramount importance to efficiently orchestrate vehicular wireless networks, necessitating the availability of information regarding the current network status and computational resources. However, due to the mobility…

Autonomous driving requires rich contextual comprehension and precise predictive reasoning to navigate dynamic and complex environments safely. Vision-Language Models (VLMs) and Driving World Models (DWMs) have independently emerged as…

The emergence of Large Language Models (LLMs) like ChatGPT has inspired the development of LLM-based agents capable of addressing complex, real-world tasks. However, these agents often struggle during task execution due to methodological…

Planning with pretrained diffusion models has emerged as a promising approach for solving test-time guided control problems. Standard gradient guidance typically performs optimally under convex, differentiable reward landscapes. However, it…

The integration of machine learning tools into telecom networks, has led to two prevailing paradigms, namely, language-based systems, such as Large Language Models (LLMs), and physics-based systems, such as Digital Twins (DTs). While…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

In recent years several learning approaches to point goal navigation in previously unseen environments have been proposed. They vary in the representations of the environments, problem decomposition, and experimental evaluation. In this…

Effectively integrating Large Language Models (LLMs) into autonomous driving requires a balance between leveraging high-level reasoning and maintaining real-time efficiency. Existing approaches either activate LLMs too frequently, causing…