相关论文: Less Is More: Scalable Visual Navigation from Limi…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

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,…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

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…

Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases. Assigned with an image of the goal, an embodied agent must explore to discover the goal, i.e., search efficiently using learned priors.…

Instruction tuning has unlocked powerful capabilities in large language models (LLMs), effectively using combined datasets to develop generalpurpose chatbots. However, real-world applications often require a specialized suite of skills…

The robustness of visual navigation policies trained through imitation often hinges on the augmentation of the training image-action pairs. Traditionally, this has been done by collecting data from multiple cameras, by using standard data…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Reinforcement Learning (RL) in partially observable environments poses significant challenges due to the complexity of learning under uncertainty. While additional information, such as that available in simulations, can enhance training,…

Vision-and-Language Navigation (VLN) requires agents to navigate photo-realistic environments following natural language instructions. Current methods predominantly rely on imitation learning, which suffers from limited generalization and…

Navigating dynamic urban environments presents significant challenges for embodied agents, requiring advanced spatial reasoning and adherence to common-sense norms. Despite progress, existing visual navigation methods struggle in map-free…

Recent success in legged robot locomotion is attributed to the integration of reinforcement learning and physical simulators. However, these policies often encounter challenges when deployed in real-world environments due to sim-to-real…

Preference-aligned robot navigation in human environments is typically achieved through learning-based approaches, utilizing user feedback or demonstrations for personalization. However, personal preferences are subject to change and might…

Reinforcement learning (RL) with dense rewards and imitation learning (IL) with human-generated trajectories are the most widely used approaches for training modern embodied agents. RL requires extensive reward shaping and auxiliary losses…

Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribution shift, i.e. environmental, robot or…

Achieving precise positioning of the mobile manipulator's base is essential for successful manipulation actions that follow. Most of the RGB-based navigation systems only guarantee coarse, meter-level accuracy, making them less suitable for…

The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increasingly available, embodiment gaps and mismatched action…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…