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Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…
We present LGX (Language-guided Exploration), a novel algorithm for Language-Driven Zero-Shot Object Goal Navigation (L-ZSON), where an embodied agent navigates to a uniquely described target object in a previously unseen environment. Our…
Zero-shot object-goal navigation (ZSON) requires navigating unknown environments to find a target object without task-specific training. Prior hierarchical training-free solutions invest in scene understanding (\textit{belief}) and…
Zero-shot object navigation (ZSON) addresses situation where an agent navigates to an unseen object that does not present in the training set. Previous works mainly train agent using seen objects with known labels, and ignore the seen…
Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…
This paper investigates the zero-shot object goal visual navigation problem. In the object goal visual navigation task, the agent needs to locate navigation targets from its egocentric visual input. "Zero-shot" means that the target the…
Navigating toward specific objects in unknown environments without additional training, known as Zero-Shot object navigation, poses a significant challenge in the field of robotics, which demands high levels of auxiliary information and…
The Orthogonal Watchman Route Problem (OWRP) entails the search for the shortest path, known as the watchman route, that a robot must follow within a polygonal environment. The primary objective is to ensure that every point in the…
Following human instructions to explore and search for a specified target in an unfamiliar environment is a crucial skill for mobile service robots. Most of the previous works on object goal navigation have typically focused on a single…
In this paper, we focus on the problem of efficiently locating a target object described with free-form language using a mobile robot equipped with vision sensors (e.g., an RGBD camera). Conventional active visual search predefines a set of…
This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…
Vision-and-Language Navigation (VLN) in continuous environments requires agents to interpret natural language instructions while navigating unconstrained 3D spaces. Existing VLN-CE frameworks rely on a two-stage approach: a waypoint…
With the rapid progress of foundation models and robotics, vision-language navigation (VLN) has emerged as a key task for embodied agents with broad practical applications. We address VLN in continuous environments, a particularly…
Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…
Solving the Traveling Salesman Problem (TSP) is NP-hard yet fundamental for a wide range of real-world applications. Classical exact methods face challenges in scaling, and heuristic methods often require domain-specific parameter…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…
Home-assistant robots have been a long-standing research topic, and one of the biggest challenges is searching for required objects in housing environments. Previous object-goal navigation requires the robot to search for a target object…
Current Zero-Shot Learning (ZSL) approaches are restricted to recognition of a single dominant unseen object category in a test image. We hypothesize that this setting is ill-suited for real-world applications where unseen objects appear…
Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…