Related papers: OpenObject-NAV: Open-Vocabulary Object-Oriented Na…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Emerging object-based SLAM algorithms can build a graph representation of an environment comprising nodes for robot poses and object landmarks. However, while this map will contain static objects such as furniture or appliances, many…
Online construction of open-ended language scenes is crucial for robotic applications, where open-vocabulary interactive scene understanding is required. Recently, neural implicit representation has provided a promising direction for online…
Scene Graph Generation (SGG) offers a structured representation critical in many computer vision applications. Traditional SGG approaches, however, are limited by a closed-set assumption, restricting their ability to recognize only…
Teleoperation via natural-language reduces operator workload and enhances safety in high-risk or remote settings. However, in dynamic remote scenes, transmission latency during bidirectional communication creates gaps between remote…
Zero-Shot Object Navigation (ZSON) enables agents to navigate towards open-vocabulary objects in unknown environments. The existing works of ZSON mainly focus on following individual instructions to find generic object classes, neglecting…
The ability to navigate like a human towards a language-guided target from anywhere in a 3D embodied environment is one of the 'holy grail' goals of intelligent robots. Most visual navigation benchmarks, however, focus on navigating toward…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…
One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…
Vision-and-Language Navigation in Continuous Environments (VLN-CE) is a navigation task that requires an agent to follow a language instruction in a realistic environment. The understanding of environments is a crucial part of the VLN-CE…
Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely on dense 3D reconstruction and hand-crafted goal metrics,…
Object visual navigation aims to steer an agent toward a target object based on visual observations. It is highly desirable to reasonably perceive the environment and accurately control the agent. In the navigation task, we introduce an…
Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…
Service robots, in general, have to work independently and adapt to the dynamic changes happening in the environment in real-time. One important aspect in such scenarios is to continually learn to recognize newer object categories when they…
Object-goal visual navigation requires robots to reason over semantic structure and act effectively under partial observability. Recent approaches based on object-level topological maps enable long-horizon navigation without dense geometric…
We propose OVIGo-3DHSG method - Open-Vocabulary Indoor Grounding of objects using 3D Hierarchical Scene Graph. OVIGo-3DHSG represents an extensive indoor environment over a Hierarchical Scene Graph derived from sequences of RGB-D frames…
Open-Vocabulary Object Navigation (OVON) requires an embodied agent to locate a language-specified target in unknown environments. Existing zero-shot methods often reason over dense frontier points under incomplete observations, causing…
Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…
We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions. By being situated in continuous environments, this setting lifts a…
Object-goal navigation (Object-nav) entails searching, recognizing and navigating to a target object. Object-nav has been extensively studied by the Embodied-AI community, but most solutions are often restricted to considering static…