Related papers: Visibility-Aware Navigation Among Movable Obstacle…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…
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:…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
This paper introduces a novel approach for robot navigation in challenging dynamic environments. The proposed method builds upon the concept of Velocity Obstacles (VO) that was later extended to Nonlinear Velocity Obstacles (NLVO) to…
Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…
Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…
This paper investigates Multi-Agent Path Finding Among Movable Obstacles (M-PAMO), which seeks collision-free paths for multiple agents from their start to goal locations among static and movable obstacles. M-PAMO arises in logistics and…
Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…
Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…
Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…
Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
We introduce \textbf{LaMP}, a dual-expert Vision-Language-Action framework that embeds dense 3D scene flow as a latent motion prior for robotic manipulation. Existing VLA models regress actions directly from 2D semantic visual features,…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…