相关论文: Modernising Reinforcement Learning-Based Navigatio…

Scene Graph Generation is a critical enabler of environmental comprehension for autonomous robotic systems. Most of existing methods, however, are often thwarted by the intricate dynamics of background complexity, which limits their ability…

Embodied AI is one of the most popular studies in artificial intelligence and robotics, which can effectively improve the intelligence of real-world agents (i.e. robots) serving human beings. Scene knowledge is important for an agent to…

Enabling robots to autonomously navigate complex environments is essential for real-world deployment. Prior methods approach this problem by having the robot maintain an internal map of the world, and then use a localization and planning…

3D semantic scene graphs (3DSSG) provide compact structured representations of environments by explicitly modeling objects, attributes, and relationships. While 3DSSGs have shown promise in robotics and embodied AI, many existing methods…

We present a method for generating, predicting, and using Spatiotemporal Occupancy Grid Maps (SOGM), which embed future semantic information of real dynamic scenes. We present an auto-labeling process that creates SOGMs from noisy real…

Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep…

Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Semantic image and video segmentation stand among the most important tasks in computer vision nowadays, since they provide a complete and meaningful representation of the environment by means of a dense classification of the pixels in a…

Vision-based 3D Semantic Scene Completion (SSC) has received growing attention due to its potential in autonomous driving. While most existing approaches follow an ego-centric paradigm by aggregating and diffusing features over the entire…

Scene Graph Generation, which generally follows a regular encoder-decoder pipeline, aims to first encode the visual contents within the given image and then parse them into a compact summary graph. Existing SGG approaches generally not only…

While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex long-horizon tasks. To address this gap, we propose…

Vision-and-Language Navigation (VLN) requires an embodied agent to traverse complex environments by following natural language instructions, demanding accurate alignment between visual observations and linguistic guidance. Despite recent…

Successfully solving long-horizon manipulation tasks remains a fundamental challenge. These tasks involve extended action sequences and complex object interactions, presenting a critical gap between high-level symbolic planning and…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…

This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

Capturing global contextual representations by exploiting long-range pixel-pixel dependencies has shown to improve semantic segmentation performance. However, how to do this efficiently is an open question as current approaches of utilising…

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…

In this paper, we introduce a novel image-goal navigation approach, named RFSG. Our focus lies in leveraging the fine-grained connections between goals, observations, and the environment within limited image data, all the while keeping the…