Related papers: OpenIN: Open-Vocabulary Instance-Oriented Navigati…
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…
This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…
Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…
In robotic, task goals can be conveyed through various modalities, such as language, goal images, and goal videos. However, natural language can be ambiguous, while images or videos may offer overly detailed specifications. To tackle these…
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 rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
Accurate prediction of driving scenes is essential for road safety and autonomous driving. Occupancy Grid Maps (OGMs) are commonly employed for scene prediction due to their structured spatial representation, flexibility across sensor…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…
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,…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Safe visual navigation is critical for indoor mobile robots operating in cluttered environments. Existing benchmarks, however, often neglect collisions or are designed for outdoor scenarios, making them unsuitable for indoor visual…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Real-world robots localize objects from natural-language instructions while scenes around them keep changing. Yet most of the existing 3D visual grounding (3DVG) method still assumes a reconstructed and up-to-date point cloud, an assumption…
The ability to place objects in the environment is an important skill for a personal robot. An object should not only be placed stably, but should also be placed in its preferred location/orientation. For instance, a plate is preferred to…
Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…
Aerial robots can enhance construction site productivity by autonomously handling inspection and mapping tasks. However, ensuring safe navigation near human workers remains challenging. While navigation in static environments has been well…
Existing object-search approaches enable robots to search through free pathways, however, robots operating in unstructured human-centered environments frequently also have to manipulate the environment to their needs. In this work, we…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…