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Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To…
We study zero-shot instance navigation, in which the agent navigates to a specific object without using object annotations for training. Previous object navigation approaches apply the image-goal navigation (ImageNav) task (go to the…
In the realm of household robotics, the Zero-Shot Object Navigation (ZSON) task empowers agents to adeptly traverse unfamiliar environments and locate objects from novel categories without prior explicit training. This paper introduces…
Zero-shot object-goal navigation (ZSON) is a challenging problem in robotics that requires a comprehensive understanding of both language and visual observations. Contextual cues from rooms and objects are critical, but their relative…
Navigating unfamiliar environments presents significant challenges for household robots, requiring the ability to recognize and reason about novel decoration and layout. Existing reinforcement learning methods cannot be directly transferred…
Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…
Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated open-set object-goal navigation in indoor settings, but these…
Cooperative visual semantic navigation is a foundational capability for aerial robot teams operating in unknown environments. However, achieving robust open-vocabulary object-goal navigation remains challenging due to the computational…
We introduce an innovative approach to advancing semantic understanding in zero-shot object goal navigation (ZS-OGN), enhancing the autonomy of robots in unfamiliar environments. Traditional reliance on labeled data has been a limitation…
With the rise of automation, unmanned vehicles became a hot topic both as commercial products and as a scientific research topic. It composes a multi-disciplinary field of robotics that encompasses embedded systems, control theory, path…
In search applications, autonomous unmanned vehicles must be able to efficiently reacquire and localize mobile targets that can remain out of view for long periods of time in large spaces. As such, all available information sources must be…
Object-goal navigation (ObjNav) tasks an agent with navigating to the location of a specific object in an unseen environment. Embodied agents equipped with large language models (LLMs) and online constructed navigation maps can perform…
Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…
Zero-shot object navigation in unknown environments presents significant challenges, mainly due to two key limitations: insufficient semantic guidance leads to inefficient exploration, while limited spatial memory resulting from…
Zero-shot object-goal navigation aims to find target objects in unseen environments using only egocentric observation. Recent methods leverage foundation models' comprehension and reasoning capabilities to enhance navigation performance.…
ObjectGoal Navigation (ObjectNav) is an embodied task wherein agents are to navigate to an object instance in an unseen environment. Prior works have shown that end-to-end ObjectNav agents that use vanilla visual and recurrent modules, e.g.…
Object-goal navigation is a challenging task that requires guiding an agent to specific objects based on first-person visual observations. The ability of agent to comprehend its surroundings plays a crucial role in achieving successful…
The Zero-Shot Object Navigation (ZSON) task requires embodied agents to find a previously unseen object by navigating in unfamiliar environments. Such a goal-oriented exploration heavily relies on the ability to perceive, understand, and…
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…
Advances in open-vocabulary semantic mapping and object navigation have enabled robots to perform an informed search of their environment for an arbitrary object. However, such zero-shot object navigation is typically designed for simple…