Related papers: The Medial Axis of a Multi-Layered Environment and…
Navigation mesh (Navmesh) inconsistencies affect the player experience by directly impacting the navigation systems used by non-playable characters (NPCs) in game environments. While navmeshes are generated from world geometry using…
Road surface reconstruction plays a vital role in autonomous driving systems, enabling road lane perception and high-precision mapping. Recently, neural implicit encoding has achieved remarkable results in scene representation, particularly…
this paper presents an enhancement of the medial axis algorithm to be used for finding the optimal shortest path for developed cognitive map. The cognitive map has been developed, based on the architectural blueprint maps. The idea for…
Walking in a Virtual Environment is a bounded task. It is challenging for a subject to navigate a large virtual environment designed in a limited physical space. External hardware support may be required to achieve such an act in a concise…
Accurate long-term trajectory prediction in complex scenes, where multiple agents (e.g., pedestrians or vehicles) interact with each other and the environment while attempting to accomplish diverse and often unknown goals, is a challenging…
Generalizable active mapping in complex unknown environments remains a critical challenge for mobile robots. Existing methods, constrained by insufficient training data and conservative exploration strategies, exhibit limited…
Achieving human-like reasoning in deep learning models for complex tasks in unknown environments remains a critical challenge in embodied intelligence. While advanced vision-language models (VLMs) excel in static scene understanding, their…
Cognitive maps play a crucial role in facilitating flexible behaviour by representing spatial and conceptual relationships within an environment. The ability to learn and infer the underlying structure of the environment is crucial for…
Assisting humans in open-world outdoor environments requires robots to translate high-level natural-language intentions into safe, long-horizon, and socially compliant navigation behavior. Existing map-based methods rely on costly pre-built…
While 2D occupancy maps commonly used in mobile robotics enable safe navigation in indoor environments, in order for robots to understand and interact with their environment and its inhabitants representing 3D geometry and semantic…
Generating realistic 3D worlds occupied by moving humans has many applications in games, architecture, and synthetic data creation. But generating such scenes is expensive and labor intensive. Recent work generates human poses and motions…
An embodied task such as embodied question answering (EmbodiedQA), requires an agent to explore the environment and collect clues to answer a given question that related with specific objects in the scene. The solution of such task usually…
The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…
The zero-shot object navigation (ZSON) in unknown open-ended environments coupled with semantically novel target often suffers from the significant decline in performance due to the neglect of high-dimensional implicit scene information and…
We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…
Channel knowledge map (CKM) is an emerging technique to enable environment-aware wireless communications, in which databases with location-specific channel knowledge are used to facilitate or even obviate real-time channel state information…
Visual navigation takes inspiration from humans, who navigate in previously unseen environments using vision without detailed environment maps. Inspired by this, we introduce a novel no-RL, no-graph, no-odometry approach to visual…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
Elevation maps are commonly used to represent the environment of mobile robots and are instrumental for locomotion and navigation tasks. However, pure geometric information is insufficient for many field applications that require appearance…
Human mobility in cities is shaped not only by visible structures such as highways, rivers, and parks but also by invisible barriers rooted in socioeconomic segregation, uneven access to amenities, and administrative divisions. Yet…