Related papers: Bridging Zero-shot Object Navigation and Foundatio…

UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over long horizons. Existing zero-shot methods remain limited, as…

Zero-Shot Object Navigation (ZSON) in unknown multi-floor environments presents a significant challenge. Recent methods, mostly based on semantic value greedy waypoint selection, spatial topology-enhanced memory, and Multimodal Large…

Zero-shot object navigation (ZSON) in large-scale outdoor environments faces many challenges; we specifically address a coupled one: long-range targets that reduce to tiny projections and intermittent visibility due to partial or complete…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…

Object goal navigation (ObjectNav) in unseen environments is a fundamental task for Embodied AI. Agents in existing works learn ObjectNav policies based on 2D maps, scene graphs, or image sequences. Considering this task happens in 3D…

Object-Goal Navigation (ObjectNav) is a critical component toward deploying mobile robots in everyday, uncontrolled environments such as homes, schools, and workplaces. In this context, a robot must locate target objects in previously…

Object navigation is crucial for robots, but traditional methods require substantial training data and cannot be generalized to unknown environments. Zero-shot object navigation (ZSON) aims to address this challenge, allowing robots to…

In this paper, we propose a training-free framework for vision-and-language navigation (VLN). Existing zero-shot VLN methods are mainly designed for discrete environments or involve unsupervised training in continuous simulator…

Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…

Navigation is a fundamental capability in embodied AI, representing the intelligence required to perceive and interact within physical environments following language instructions. Despite significant progress in large Vision-Language…

Visual navigation using only a single camera and a topological map has recently become an appealing alternative to methods that require additional sensors and 3D maps. This is typically achieved through an "image-relative" approach to…

Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…

Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when the absence of a predominant option among goals leads to…

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

Object-goal navigation is a crucial engineering task for the community of embodied navigation; it involves navigating to an instance of a specified object category within unseen environments. Although extensive investigations have been…