Related papers: CuriousBot: Interactive Mobile Exploration via Act…
Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
The ubiquity and on-the-go availability of mobile devices makes them central to many tasks such as interpersonal communication and media consumption. However, despite the potential of mobile devices for on-demand exploratory data…
The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…
Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…
We introduce the novel task of interactive scene exploration, wherein robots autonomously explore environments and produce an action-conditioned scene graph (ACSG) that captures the structure of the underlying environment. The ACSG accounts…
The graph exploration problem requires a group of mobile robots, initially placed arbitrarily on the nodes of a graph, to work collaboratively to explore the graph such that each node is eventually visited by at least one robot. One…
Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration efficiently. Prior methods either rely on vision-language…
This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
We propose a novel task of text-controlled human object interaction generation in 3D scenes with movable objects. Existing human-scene interaction datasets suffer from insufficient interaction categories and typically only consider…
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…
We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…
Interactions play a key role in understanding objects and scenes, for both virtual and real world agents. We introduce a new general representation for proximal interactions among physical objects that is agnostic to the type of objects or…
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs have emerged as a powerful semantic representation for…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Graph exploration and editing are still mostly considered independently and systems to work with are not designed for todays interactive surfaces like smartphones, tablets or tabletops. When developing a system for those modern devices that…
We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…
Recent approaches have successfully focused on the segmentation of static reconstructions, thereby equipping downstream applications with semantic 3D understanding. However, the world in which we live is dynamic, characterized by numerous…
Robotic manipulation stands as a largely unsolved problem despite significant advances in robotics and machine learning in recent years. One of the key challenges in manipulation is the exploration of the dynamics of the environment when…