Related papers: BEINGS: Bayesian Embodied Image-goal Navigation wi…

In embodied vision, Instance ImageGoal Navigation (IIN) requires an agent to locate a specific object depicted in a goal image within an unexplored environment. The primary challenge of IIN arises from the need to recognize the target…

The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be…

Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases. Assigned with an image of the goal, an embodied agent must explore to discover the goal, i.e., search efficiently using learned priors.…

Bird's-eye-view (BEV) images have been widely demonstrated to provide valuable prior information for navigation. Given the global information provided by such views, two key challenges remain: how to fully exploit this information and how…

Accurate post-processing navigation is essential for applications such as survey and mapping, where the full measurement history can be exploited to refine past state estimates. Fixed-interval smoothing algorithms represent the…

For robots to robustly understand and interact with the physical world, it is highly beneficial to have a comprehensive representation - modelling geometry, physics, and visual observations - that informs perception, planning, and control…

This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. VNMs offer a promising paradigm for image-goal navigation by…

We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…

Instance Image-Goal Navigation (IIN) requires autonomous agents to identify and navigate to a target object or location depicted in a reference image captured from any viewpoint. While recent methods leverage powerful novel view synthesis…

Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…

The field of Embodied AI predominantly relies on simulation for training and evaluation, often using either fully synthetic environments that lack photorealism or high-fidelity real-world reconstructions captured with expensive hardware. As…

We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…

We propose a method to enhance 3D Gaussian Splatting (3DGS)~\cite{Kerbl2023}, addressing challenges in initialization, optimization, and density control. Gaussian Splatting is an alternative for rendering realistic images while supporting…

In this work, we argue that Gaussian splatting is a suitable unified representation for autonomous robot navigation in large-scale unstructured outdoor environments. Such environments require representations that can capture complex…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that…

Bird's-Eye-View (BEV) perception serves as a cornerstone for autonomous driving, offering a unified spatial representation that fuses surrounding-view images to enable reasoning for various downstream tasks, such as semantic segmentation,…

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…

To help bridge the gap between internet vision-style problems and the goal of vision for embodied perception we instantiate a large-scale navigation task -- Embodied Question Answering [1] in photo-realistic environments (Matterport 3D). We…

Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…