Related papers: VLPG-Nav: Object Navigation Using Visual Language …
Humans excel at efficiently navigating through crowds without collision by focusing on specific visual regions relevant to navigation. However, most robotic visual navigation methods rely on deep learning models pre-trained on vision tasks,…
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…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
Vision-language navigation (VLN), which entails an agent to navigate 3D environments following human instructions, has shown great advances. However, current agents are built upon panoramic observations, which hinders their ability to…
For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…
Recently, Visual Programming (VP) based on large language models (LLMs) has rapidly developed and demonstrated significant potential in complex Visual Reasoning (VR) tasks. Previous works to enhance VP have primarily focused on improving…
Vision-Language Pre-training (VLP) methods based on object detection enjoy the rich knowledge of fine-grained object-text alignment but at the cost of computationally expensive inference. Recent Visual-Transformer (ViT)-based approaches…
Traditional object detection systems are typically constrained to predefined categories, limiting their applicability in dynamic environments. In contrast, open-vocabulary object detection (OVD) enables the identification of objects from…
Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…
Visual Language Navigation (VLN) is a fundamental task within the field of Embodied AI, focusing on the ability of agents to navigate complex environments based on natural language instructions. Despite the progress made by existing…
This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or…
Vision-Language Models (VLMs) have shown great success as foundational models for downstream vision and natural language applications in a variety of domains. However, these models are limited to reasoning over objects and actions currently…
Visual robot self-localization is a fundamental problem in visual robot navigation and has been studied across various problem settings, including monocular and sequential localization. However, many existing studies focus primarily on…
Pointing gestures are widely used in robot navigationapproaches nowadays. However, most approaches only use point-ing gestures, and these have two major limitations. Firstly, they need to recognize pointing gestures all the time, which…
We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…
In daily domestic settings, 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…
Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…
Vision based localization is the problem of inferring the pose of the camera given a single image. One solution to this problem is to learn a deep neural network to infer the pose of a query image after learning on a dataset of images with…
Navigating to a specified object in an unknown environment is a fundamental yet challenging capability of embodied intelligence. However, current methods struggle to balance decision frequency with intelligence, resulting in decisions…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…