Related papers: OpenObject-NAV: Open-Vocabulary Object-Oriented Na…
Can the intrinsic relation between an object and the room in which it is usually located help agents in the Visual Navigation Task? We study this question in the context of Object Navigation, a problem in which an agent has to reach an…
Object Goal Navigation requires a robot to find and navigate to an instance of a target object class in a previously unseen environment. Our framework incrementally builds a semantic map of the environment over time, and then repeatedly…
Embodied AI agents in large scenes often need to navigate to find objects. In this work, we study a naturally emerging variant of the object navigation task, hierarchical relational object navigation (HRON), where the goal is to find…
Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…
As a consequence of an ever-increasing number of service robots, there is a growing demand for highly accurate real-time 3D object recognition. Considering the expansion of robot applications in more complex and dynamic environments,it is…
3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…
Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…
Creating and maintaining an accurate representation of the environment is an essential capability for every service robot. Especially for household robots acting in indoor environments, semantic information is important. In this paper, we…
Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…
Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…
Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…
Understanding and forecasting future scene states is critical for autonomous agents to plan and act effectively in complex environments. Object-centric models, with structured latent spaces, have shown promise in modeling object dynamics…
Current approaches for 3D scene graph prediction rely on labeled datasets to train models for a fixed set of known object classes and relationship categories. We present Open3DSG, an alternative approach to learn 3D scene graph prediction…
Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…
Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated open-set object-goal navigation in indoor settings, but these…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
Behavioral and semantic relationships play a vital role on intelligent self-driving vehicles and ADAS systems. Different from other research focused on trajectory, position, and bounding boxes, relationship data provides a human…
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…
Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…
Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…