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Recent advances in large multimodal models have enabled new opportunities in embodied AI, particularly in robotic manipulation. These models have shown strong potential in generalization and reasoning, but achieving reliable and responsible…
We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…
Developing visual perception models for active agents and sensorimotor control are cumbersome to be done in the physical world, as existing algorithms are too slow to efficiently learn in real-time and robots are fragile and costly. This…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
Mobile manipulation in dynamic environments is challenging due to movable obstacles blocking the robot's path. Traditional methods, which treat navigation and manipulation as separate tasks, often fail in such 'manipulate-to-navigate'…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Learning to navigate in a realistic setting where an agent must rely solely on visual inputs is a challenging task, in part because the lack of position information makes it difficult to provide supervision during training. In this paper,…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Following up on our previous works, in this paper, we present Arena-Rosnav 2.0 an extension to our previous works Arena-Bench and Arena-Rosnav, which adds a variety of additional modules for developing and benchmarking robotic navigation…
Autonomous navigation in unknown 3D environments is a key issue for intelligent transportation, while still being an open problem. Conventionally, navigation risk has been focused on mitigating collisions with obstacles, neglecting the…
Indoor navigation aims at performing navigation within buildings. In scenes like home and factory, most intelligent mobile devices require an functionality of routing to guide itself precisely through indoor scenes to complete various tasks…
Multi-robot navigation is increasingly crucial in various domains, including disaster response, autonomous vehicles, and warehouse and manufacturing automation. Robot teams often must operate in highly dynamic environments and under strict…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
Getting robots to navigate to multiple objects autonomously is essential yet difficult in robot applications. One of the key challenges is how to explore environments efficiently with camera sensors only. Existing navigation methods mainly…
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human…
The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…
Benchmarking provides experimental evidence of the scientific baseline to enhance the progression of fundamental research, which is also applicable to robotics. In this paper, we propose a method to benchmark metrics of robotic…
Interactive world models are advancing rapidly, yet existing benchmarks cover only part of the required competencies, leaving no unified standard for systematic evaluation. To fill this gap, we introduce WBench, a comprehensive multi-turn…
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…