6 papers · 1 filter
Learning to Localize Reference Trajectories in Image-Space for Visual Navigation
Finn Lukas Busch, Matti Vahs, Quantao Yang +4
We present LoTIS, a model for visual navigation that provides robot-agnostic image-space guidance by localizing a reference RGB trajectory in the robot's current view, without requ…
Learned Controllers for Agile Quadrotors in Pursuit-Evasion Games
Alejandro Sanchez Roncero, Yixi Cai, Olov Andersson +1
In this letter we study 1v1 quadrotor pursuit-evasion, where a pursuer and an evader are trained via reinforcement learning (RL) by competing against each other. Such adversarial s…
DIV-Nav: Open-Vocabulary Spatial Relationships for Multi-Object Navigation
Jesús Ortega-Peimbert, Finn Lukas Busch, Timon Homberger +2
Advances in open-vocabulary semantic mapping and object navigation have enabled robots to perform an informed search of their environment for an arbitrary object. However, such zer…
ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow
Changhe Chen, Quantao Yang, Xiaohao Xu +2
One of the central challenges preventing robots from acquiring complex manipulation skills is the prohibitive cost of collecting large-scale robot demonstrations. In contrast, huma…
FLoRA: Sample-Efficient Preference-based RL via Low-Rank Style Adaptation of Reward Functions
Daniel Marta, Simon Holk, Miguel Vasco +6
Preference-based reinforcement learning (PbRL) is a suitable approach for style adaptation of pre-trained robotic behavior: adapting the robot's policy to follow human user prefere…
One Map to Find Them All: Real-time Open-Vocabulary Mapping for Zero-shot Multi-Object Navigation
Finn Lukas Busch, Timon Homberger, Jesús Ortega-Peimbert +2
The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models hav…