5 papers · 1 filter
Compressing History into Memory: Distilling Transformers into Recurrent Transformers
Philippe Weinzaepfel, Christian Wolf, Bülent Mert Sariyildiz +3
Transformers are AI's workhorse but their computational cost becomes prohibitive when processing long sequences. We target long-horizon streaming vision and robotics applications,…
What does really matter in image goal navigation?
Gianluca Monaci, Philippe Weinzaepfel, Christian Wolf
Image goal navigation requires two different skills: firstly, core navigation skills, including the detection of free space and obstacles, and taking decisions based on an internal…
RANa: Retrieval-Augmented Navigation
Gianluca Monaci, Rafael S. Rezende, Romain Deffayet +5
Methods for navigation based on large-scale learning typically treat each episode as a new problem, where the agent is spawned with a clean memory in an unknown environment. While…
Zero-BEV: Zero-shot Projection of Any First-Person Modality to BEV Maps
Gianluca Monaci, Leonid Antsfeld, Boris Chidlovskii +1
Bird's-eye view (BEV) maps are an important geometrically structured representation widely used in robotics, in particular self-driving vehicles and terrestrial robots. Existing al…
Task-conditioned adaptation of visual features in multi-task policy learning
Pierre Marza, Laetitia Matignon, Olivier Simonin +1
Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in th…