Related papers: Generating Landmark Navigation Instructions from M…
Landmarks are central to how people navigate, but most navigation technologies do not incorporate them into their representations. We propose the landmark graph generation task (creating landmark-based spatial representations from natural…
Modern robotics applications that involve human-robot interaction require robots to be able to communicate with humans seamlessly and effectively. Natural language provides a flexible and efficient medium through which robots can exchange…
Navigating complex urban environments using natural language instructions poses significant challenges for embodied agents, including noisy language instructions, ambiguous spatial references, diverse landmarks, and dynamic street scenes.…
In this paper, a method for generating a map from path information described using natural language (textual path) is proposed. In recent years, robotics research mainly focus on vision-and-language navigation (VLN), a navigation task based…
Navigating and understanding the real world remains a key challenge in machine learning and inspires a great variety of research in areas such as language grounding, planning, navigation and computer vision. We propose an…
Landmarks are important features of spatial cognition. Landmarks are naturally included in human route descriptions and in the past algorithms were developed to select the most salient landmarks at decision points and automatically…
We are interested in the generation of navigation instructions, either in their own right or as training material for robotic navigation task. In this paper, we propose a new approach to navigation instruction generation by framing the…
This works presents a formulation for visual navigation that unifies map based spatial reasoning and path planning, with landmark based robust plan execution in noisy environments. Our proposed formulation is learned from data and is thus…
Following navigation instructions in natural language requires a composition of language, action, and knowledge of the environment. Knowledge of the environment may be provided via visual sensors or as a symbolic world representation…
Minimising the discomfort caused by robots when navigating in social situations is crucial for them to be accepted. The paper presents a machine learning-based framework that bootstraps existing one-dimensional datasets to generate a cost…
We study the problem of jointly reasoning about language and vision through a navigation and spatial reasoning task. We introduce the Touchdown task and dataset, where an agent must first follow navigation instructions in a real-life visual…
We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…
We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…
When the navigational environment is known, it can be represented as a graph where landmarks are nodes, the robot behaviors that move from node to node are edges, and the route is a set of behavioral instructions. The route path from source…
Target localization is a critical task for mobile sensors and has many applications. However, generating informative trajectories for these sensors is a challenging research problem. A common method uses information maps that estimate the…
We study the automatic generation of navigation instructions from 360-degree images captured on indoor routes. Existing generators suffer from poor visual grounding, causing them to rely on language priors and hallucinate objects. Our…
In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
The role of robots in society keeps expanding, bringing with it the necessity of interacting and communicating with humans. In order to keep such interaction intuitive, we provide automatic wayfinding based on verbal navigational…
When communicating routes in natural language, the concept of acquired spatial knowledge is crucial for geographic information retrieval (GIR) and in spatial cognitive research. However, NLP navigation studies often overlook the impact of…