相关论文: Modernising Reinforcement Learning-Based Navigatio…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…

Recent advances in Large Language Models (LLMs) have helped facilitate exciting progress for robotic planning in real, open-world environments. 3D scene graphs (3DSGs) offer a promising environment representation for grounding such…

Model-based reinforcement learning algorithms are typically more sample efficient than their model-free counterparts, especially in sparse reward problems. Unfortunately, many interesting domains are too complex to specify the complete…

Although learning-based vision-and-language navigation (VLN) agents can learn spatial knowledge implicitly from large-scale training data, zero-shot VLN agents lack this process, relying primarily on local observations for navigation, which…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Scene graph generation (SGG) is a sophisticated task that suffers from both complex visual features and dataset long-tail problem. Recently, various unbiased strategies have been proposed by designing novel loss functions and data balancing…

In ObjectNav, agents must locate specific objects within unseen environments, requiring effective perception, prediction, localization and planning capabilities. This study finds that state-of-the-art embodied AI agents compete for higher…

Recent end-to-end autonomous driving approaches have leveraged Vision-Language Models (VLMs) to enhance planning capabilities in complex driving scenarios. However, VLMs are inherently trained as generalist models, lacking specialized…

Multimodal image fusion and semantic segmentation are critical for autonomous driving. Despite advancements, current models often struggle with segmenting densely packed elements due to a lack of comprehensive fusion features for guidance…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Holistic scene understanding is pivotal for the performance of autonomous machines. In this paper we propose a new end-to-end model for performing semantic segmentation and depth completion jointly. The vast majority of recent approaches…

3D Semantic Scene Completion (SSC) provides comprehensive scene geometry and semantics for autonomous driving perception, which is crucial for enabling accurate and reliable decision-making. However, existing SSC methods are limited to…

Service robotics is recently enhancing precision agriculture enabling many automated processes based on efficient autonomous navigation solutions. However, data generation and infield validation campaigns hinder the progress of large-scale…

Visual navigation requires a whole range of capabilities. A crucial one of these is the ability of an agent to determine its own location and heading in an environment. Prior works commonly assume this information as given, or use methods…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

In recent years, the field of intelligent transportation has witnessed rapid advancements, driven by the increasing demand for automation and efficiency in transportation systems. Traffic safety, one of the tasks integral to intelligent…

The social robot navigation is an open and challenging problem. In existing work, separate modules are used to capture spatial and temporal features, respectively. However, such methods lead to extra difficulties in improving the…

Recently, self-supervised learning has proved to be effective to learn representations of events suitable for temporal segmentation in image sequences, where events are understood as sets of temporally adjacent images that are semantically…

This paper introduces SANGO (Socially Aware Navigation through Grouped Obstacles), a novel method that ensures socially appropriate behavior by dynamically grouping obstacles and adhering to social norms. Using deep reinforcement learning,…