Related papers: FindView: Precise Target View Localization Task fo…
Reliable localization is critical for robot navigation, yet most existing systems implicitly assume that all viewing directions at a location are equally informative. In practice, localization becomes unreliable when the robot observes…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Autonomous inspection is a central problem in robotics, with applications ranging from industrial monitoring to search-and-rescue. Traditionally, inspection has often been reduced to navigation tasks, where the objective is to reach a…
A complex visual navigation task puts an agent in different situations which call for a diverse range of visual perception abilities. For example, to "go to the nearest chair", the agent might need to identify a chair in a living room using…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
Accurate and robust localization is critical for the safe operation of Connected and Automated Vehicles (CAVs), especially in complex urban environments where Global Navigation Satellite System (GNSS) signals are unreliable. This paper…
Accurate localization is a foundational capacity, required for autonomous vehicles to accomplish other tasks such as navigation or path planning. It is a common practice for vehicles to use GPS to acquire location information. However, the…
This work proposes a biologically inspired approach that focuses on attention systems that are able to inhibit or constrain what is relevant at any one moment. We propose a radically new approach to making progress in human-robot joint…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Vision-based localization of an agent in a map is an important problem in robotics and computer vision. In that context, localization by learning matchable image features is gaining popularity due to recent advances in machine learning.…
When searching for an object humans navigate through a scene using semantic information and spatial relationships. We look for an object using our knowledge of its attributes and relationships with other objects to infer the probable…
Searching for a target object in a cluttered scene constitutes a fundamental challenge in daily vision. Visual search must be selective enough to discriminate the target from distractors, invariant to changes in the appearance of the…
Consider a team of agents in the plane searching for and visiting target points that appear in a bounded environment according to a stochastic renewal process with a known absolutely continuous spatial distribution. Agents must detect…
Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…
Target localization is a critical task in sensitive applications, where multiple sensing agents communicate and collaborate to identify the target location based on sensor readings. Existing approaches investigated the use of Multi-Agent…
Robots that assist humans in their daily lives should be able to locate specific instances of objects in an environment that match a user's desired objects. This task is known as instance-specific image goal navigation (InstanceImageNav),…
Many robot manipulation tasks can be framed as geometric reasoning tasks, where an agent must be able to precisely manipulate an object into a position that satisfies the task from a set of initial conditions. Often, task success is defined…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…