Related papers: SOON: Scenario Oriented Object Navigation with Gra…
Embodied navigation is a fundamental capability of embodied intelligence, enabling robots to move and interact within physical environments. However, existing navigation tasks primarily focus on predefined object navigation or instruction…
Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…
We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…
Object goal navigation (ObjectNav) is a fundamental task in embodied AI, requiring an agent to locate a target object in previously unseen environments. This task is particularly challenging because it requires both perceptual and cognitive…
In everyday life, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a result, it becomes challenging for a robot to efficiently…
Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV…
This paper addresses the problem of building augmented metric representations of scenes with semantic information from RGB-D images. We propose a complete framework to create an enhanced map representation of the environment with…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…
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…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…
Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…
It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into…
Guidance for assemblable parts is a promising field for augmented reality. Augmented reality assembly guidance requires 6D object poses of target objects in real time. Especially in time-critical medical or industrial settings, continuous…
We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…
Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in…
Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…
Navigation is a rich and well-grounded problem domain that drives progress in many different areas of research: perception, planning, memory, exploration, and optimisation in particular. Historically these challenges have been separately…
Autonomous navigation requires structured representation of the road network and instance-wise identification of the other traffic agents. Since the traffic scene is defined on the ground plane, this corresponds to scene understanding in…