Related papers: Guided Navigation from Multiple Viewpoints using Q…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Motion planning in navigation systems is highly susceptible to upstream perceptual errors, particularly in human detection and tracking. To mitigate this issue, the concept of guidance points--a novel directional cue within a reinforcement…
Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…
We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…
Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…
In recent years, we have seen significant steps taken in the development of self-driving cars. Multiple companies are starting to roll out impressive systems that work in a variety of settings. These systems can sometimes give the…
In a developmental framework, autonomous robots need to explore the world and learn how to interact with it. Without an a priori model of the system, this opens the challenging problem of having robots master their interface with the world:…
Visual reasoning -- the ability to interpret the visual world -- is crucial for embodied agents that operate within three-dimensional scenes. Progress in AI has led to vision and language models capable of answering questions from images.…
Autonomous robots are currently one of the most popular Artificial Intelligence problems, having experienced significant advances in the last decade, from Self-driving cars and humanoids to delivery robots and drones. Part of the problem is…
Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…
This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…
Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…
In current navigating platforms, the user's orientation is typically estimated based on the difference between two consecutive locations. In other words, the orientation cannot be identified until the second location is taken. This…
Humans excel at efficiently navigating through crowds without collision by focusing on specific visual regions relevant to navigation. However, most robotic visual navigation methods rely on deep learning models pre-trained on vision tasks,…
Developing general-purpose navigation policies for unknown environments remains a core challenge in robotics. Most existing systems rely on task-specific neural networks and fixed information flows, limiting their generalizability. Large…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Autonomous driving systems have made significant advances in Q&A, perception, prediction, and planning based on local visual information, yet they struggle to incorporate broader navigational context that human drivers routinely utilize. We…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…