Related papers: Situated Multimodal Control of a Mobile Robot: Nav…
In this work, we aim to enable legged robots to learn how to interpret human social cues and produce appropriate behaviors through physical human guidance. However, learning through physical engagement can place a heavy burden on users when…
In this work, we present a learning-based pipeline to realise local navigation with a quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high-level navigation commands, the robot is able to safely locomote…
Learning long-horizon tasks such as navigation has presented difficult challenges for successfully applying reinforcement learning to robotics. From another perspective, under known environments, sampling-based planning can robustly find…
Interactive robots navigating photo-realistic environments need to be trained to effectively leverage and handle the dynamic nature of dialogue in addition to the challenges underlying vision-and-language navigation (VLN). In this paper, we…
Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
Telepresence is a necessity for present time as we can't reach everywhere and also it is useful in saving human life at dangerous places. A robot, which could be controlled from a distant location, can solve these problems. This could be…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…
As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation…
We propose a multi-head attention mechanism as a blending layer in a neural network model that translates natural language to a high level behavioral language for indoor robot navigation. We follow the framework established by (Zang et al.,…
Industrial warehouses are congested with moving forklifts, shelves and personnel, making robot teleoperation particularly risky and demanding for blind and low-vision (BLV) operators. Although accessible teleoperation plays a key role in…
Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…
Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…
There are many spaces inaccessible to humans where robots could help deliver sensors and equipment. Many of these spaces contain three-dimensional passageways and uneven terrain that pose challenges for robot design and control. Everting…
Telemanipulation has become a promising technology that combines human intelligence with robotic capabilities to perform tasks remotely. However, it faces several challenges such as insufficient transparency, low immersion, and limited…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
This paper explores the principles for transforming a quadrupedal robot into a guide robot for individuals with visual impairments. A guide robot has great potential to resolve the limited availability of guide animals that are accessible…