相关论文: Object-Centric World Models Meet Monte Carlo Tree …

This paper presents an end-to-end approach for tracking static and dynamic objects for an autonomous vehicle driving through crowded urban environments. Unlike traditional approaches to tracking, this method is learned end-to-end, and is…

Identifying predictive world models for robots in novel environments from sparse online observations is essential for robot task planning and execution in novel environments. However, existing methods that leverage differentiable…

Can the intrinsic relation between an object and the room in which it is usually located help agents in the Visual Navigation Task? We study this question in the context of Object Navigation, a problem in which an agent has to reach an…

Symbolic regression (SR) is the problem of learning a symbolic expression from numerical data. Recently, deep neural models trained on procedurally-generated synthetic datasets showed competitive performance compared to more classical…

World models have been developed to support sample-efficient deep reinforcement learning agents. However, it remains challenging for world models to accurately replicate environments that are high-dimensional, non-stationary, and composed…

Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion along with others. In this paper we develop a multi-agent deep reinforcement learning (MADRL)…

In this work, we present a novel Reinforcement Learning (RL) algorithm for the off-road trajectory tracking problem. Off-road environments involve varying terrain types and elevations, and it is difficult to model the interaction dynamics…

Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Consider mutli-goal tasks that involve static environments and dynamic goals. Examples of such tasks, such as goal-directed navigation and pick-and-place in robotics, abound. Two types of Reinforcement Learning (RL) algorithms are used for…

Object proposals have become an integral preprocessing steps of many vision pipelines including object detection, weakly supervised detection, object discovery, tracking, etc. Compared to the learning-free methods, learning-based proposals…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

We present an approach for reconfiguration of dynamic visual sensor networks with deep reinforcement learning (RL). Our RL agent uses a modified asynchronous advantage actor-critic framework and the recently proposed Relational Network…

Current convolution neural network (CNN) classification methods are predominantly focused on flat classification which aims solely to identify a specified object within an image. However, real-world objects often possess a natural…

Region based object detectors achieve the state-of-the-art performance, but few consider to model the relation of proposals. In this paper, we explore the idea of modeling the relationships among the proposals for object detection from the…

While learning visuomotor skills in an end-to-end manner is appealing, deep neural networks are often uninterpretable and fail in surprising ways. For robotics tasks, such as autonomous driving, models that explicitly represent objects may…

Deep Reinforcement Learning has enabled the learning of policies for complex tasks in partially observable environments, without explicitly learning the underlying model of the tasks. While such model-free methods achieve considerable…

Object detection is one of the most active areas in computer vision, which has made significant improvement in recent years. Current state-of-the-art object detection methods mostly adhere to the framework of regions with convolutional…

Generative models have made significant progress in synthesizing visual content, including images, videos, and 3D/4D structures. However, they are typically trained with surrogate objectives such as likelihood or reconstruction loss, which…

Learning generalist embodied agents, able to solve multitudes of tasks in different domains is a long-standing problem. Reinforcement learning (RL) is hard to scale up as it requires a complex reward design for each task. In contrast,…