相关论文: Dynamic Topology Awareness: Breaking the Granulari…

Topology-consistent dynamic model sequences are essential for applications such as animation and model editing. However, existing 4D reconstruction methods face challenges in generating high-quality topology-consistent meshes. To address…

In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high…

Vision-and-Language navigation (VLN) requires an agent to navigate in unseen environment by following natural language instruction. For task completion, the agent needs to align and integrate various navigation modalities, including…

Autonomous drones capable of interpreting and executing high-level language instructions in unstructured environments remain a long-standing goal. Yet existing approaches are constrained by their dependence on hand-crafted skills, extensive…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

Graph Neural Networks (GNNs) often struggle in preserving high-frequency components of nodal signals when dealing with directed graphs. Such components are crucial for modeling flow dynamics, without which a traditional GNN tends to treat a…

Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…

We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…

Geometry-aware optimization algorithms, such as Muon, have achieved remarkable success in training deep neural networks (DNNs). These methods leverage the underlying geometry of DNNs by selecting appropriate norms for different layers and…

Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…

Important advances have been made using convolutional neural network (CNN) approaches to solve complicated problems in areas that rely on grid structured data such as image processing and object classification. Recently, research on graph…

Generalizing local navigation policies across diverse robot morphologies is a critical challenge. Progress is often hindered by the need for costly and embodiment-specific data, the tight coupling of planning and control, and the…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

Fine-grained image-text alignment is a pivotal challenge in multimodal learning, underpinning key applications such as visual question answering, image captioning, and vision-language navigation. Unlike global alignment, fine-grained…

Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…

Seeking effective neural networks is a critical and practical field in deep learning. Besides designing the depth, type of convolution, normalization, and nonlinearities, the topological connectivity of neural networks is also important.…

Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…

Topology is critical in tubular structures such as blood vessels, nerve fibers, and road networks, where connectivity and loop structure govern downstream functional analysis. Vision-Language Models (VLMs) are promising candidates for…

Continual learning on graphs tackles the problem of training a graph neural network (GNN) where graph data arrive in a streaming fashion and the model tends to forget knowledge from previous tasks when updating with new data. Traditional…

With the popularity of cloud computing and data-intensive applications such as machine learning, datacenter networks have become a critical infrastructure for our digital society. Given the explosive growth of datacenter traffic and the…