Related papers: ObjectNav Revisited: On Evaluation of Embodied Age…
Visual Navigation is a core task in Embodied AI, enabling agents to navigate complex environments toward given objectives. Across diverse settings within Navigation tasks, many necessitate the modelling of sequential data accumulated from…
Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the…
This paper presents an architecture and methodology to empower a service robot to navigate an indoor environment with semantic decision making, given RGB ego view. This method leverages the knowledge of robot's actuation capability and that…
This paper describes a framework for the object-goal navigation task, which requires a robot to find and move to the closest instance of a target object class from a random starting position. The framework uses a history of robot…
We describe a framework for research and evaluation in Embodied AI. Our proposal is based on a canonical task: Rearrangement. A standard task can focus the development of new techniques and serve as a source of trained models that can be…
Object-goal navigation (ObjNav) tasks an agent with navigating to the location of a specific object in an unseen environment. Embodied agents equipped with large language models (LLMs) and online constructed navigation maps can perform…
Over the years various methods have been proposed for the problem of object detection. Recently, we have witnessed great strides in this domain owing to the emergence of powerful deep neural networks. However, there are typically two main…
For embodied agents, navigation is an important ability but not an isolated goal. Agents are also expected to perform specific tasks after reaching the target location, such as picking up objects and assembling them into a particular…
Object-oriented embodied navigation aims to locate specific objects, defined by category or depicted in images. Existing methods often struggle to generalize to open vocabulary goals without extensive training data. While recent advances in…
Robots navigating in human environments should use language to ask for assistance and be able to understand human responses. To study this challenge, we introduce Cooperative Vision-and-Dialog Navigation, a dataset of over 2k embodied,…
We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…
We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions. By being situated in continuous environments, this setting lifts a…
Physically rearranging objects is an important capability for embodied agents. Visual room rearrangement evaluates an agent's ability to rearrange objects in a room to a desired goal based solely on visual input. We propose a simple yet…
Object-goal navigation is a challenging task that requires guiding an agent to specific objects based on first-person visual observations. The ability of agent to comprehend its surroundings plays a crucial role in achieving successful…
Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that…
Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…
Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…
We present the Habitat-Matterport 3D Open Vocabulary Object Goal Navigation dataset (HM3D-OVON), a large-scale benchmark that broadens the scope and semantic range of prior Object Goal Navigation (ObjectNav) benchmarks. Leveraging the…
State-of-the-art approaches to ObjectGoal navigation rely on reinforcement learning and typically require significant computational resources and time for learning. We propose Potential functions for ObjectGoal Navigation with…
Embodied agents is a term used to denote intelligent agents, which are a component of devices belonging to the Internet of Things (IoT) domain. Each agent is provided with sensors and actuators to interact with the environment, and with a…