6 papers
Benchmarking Interaction, Beyond Policy: a Reproducible Benchmark for Collaborative Instance Object Navigation
Edoardo Zorzi, Francesco Taioli, Yiming Wang +4
We propose Question-Asking Navigation (QAsk-Nav), the first reproducible benchmark for Collaborative Instance Object Navigation (CoIN) that enables an explicit, separate assessment…
Seldonian Reinforcement Learning for Ad Hoc Teamwork
Edoardo Zorzi, Alberto Castellini, Leonidas Bakopoulos +2
Most offline RL algorithms return optimal policies but do not provide statistical guarantees on desirable behaviors. This could generate reliability issues in safety-critical appli…
Sentinel: Multi-Patch Transformer with Temporal and Channel Attention for Time Series Forecasting
Davide Villaboni, Alberto Castellini, Ivan Luciano Danesi +1
Transformer-based time series forecasting has recently gained strong interest due to the ability of transformers to model sequential data. Most of the state-of-the-art architecture…
Collaborative Instance Object Navigation: Leveraging Uncertainty-Awareness to Minimize Human-Agent Dialogues
Francesco Taioli, Edoardo Zorzi, Gianni Franchi +4
Language-driven instance object navigation assumes that human users initiate the task by providing a detailed description of the target instance to the embodied agent. While this d…
Monte Carlo Tree Search with Velocity Obstacles for safe and efficient motion planning in dynamic environments
Lorenzo Bonanni, Daniele Meli, Alberto Castellini +1
Online motion planning is a challenging problem for intelligent robots moving in dense environments with dynamic obstacles, e.g., crowds. In this work, we propose a novel approach…
Mind the Error! Detection and Localization of Instruction Errors in Vision-and-Language Navigation
Francesco Taioli, Stefano Rosa, Alberto Castellini +5
Vision-and-Language Navigation in Continuous Environments (VLN-CE) is one of the most intuitive yet challenging embodied AI tasks. Agents are tasked to navigate towards a target go…