Related papers: PANav: Toward Privacy-Aware Robot Navigation via V…
Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
Vision is a popular and effective sensor for robotics from which we can derive rich information about the environment: the geometry and semantics of the scene, as well as the age, gender, identity, activity and even emotional state of…
Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…
In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limitations are especially pronounced in dense…
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…
Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…
Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…
Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many…
Safe autonomous navigation in unknown environments remains a critical challenge for robots with limited sensing capabilities. While safety-critical control techniques, such as Control Barrier Functions (CBFs), have been proposed to ensure…