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We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders,…

This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…

One effective approach for equipping artificial agents with sensorimotor skills is to use self-exploration. To do this efficiently is critical, as time and data collection are costly. In this study, we propose an exploration mechanism that…

Unmanned Aerial Vehicles (UAVs) equipped with high-resolution sensors enable extensive data collection from previously inaccessible areas at a remarkable spatio-temporal scale, promising to revolutionize fields such as precision agriculture…

Autonomous exploration of unknown environments is a vital function for robots and has applications in a wide variety of scenarios. Our focus primarily lies in its application for the task of efficient coverage of unknown environments.…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

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…

We present EgoNav, a system that enables a humanoid robot to traverse diverse, unseen environments by learning entirely from 5 hours of human walking data, with no robot data or finetuning. A diffusion model predicts distributions of…

Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…

The Object Navigation (ObjectNav) task aims to guide an agent to locate target objects in unseen environments using partial observations. Prior approaches have employed location prediction paradigms to achieve long-term goal reasoning, yet…

In a typical path planning pipeline for a ground robot, we build a map (e.g., an occupancy grid) of the environment as the robot moves around. While navigating indoors, a ground robot's knowledge about the environment may be limited due to…

We present a novel high-level planning framework that leverages vision-language models (VLMs) to improve autonomous navigation in unknown indoor environments with many dead ends. Traditional exploration methods often take inefficient routes…

Object goal navigation (ObjectNav) is a fundamental task in embodied AI, requiring an agent to locate a target object in previously unseen environments. This task is particularly challenging because it requires both perceptual and cognitive…

Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…

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…

Robot exploration aims at the reconstruction of unknown environments, and it is important to achieve it with shorter paths. Traditional methods focus on optimizing the visiting order of frontiers based on current observations, which may…

In target-driven navigation and autonomous exploration, reasonable prediction of unknown regions is crucial for efficient navigation and environment understanding. Existing methods mostly focus on single objects or geometric occupancy maps,…

Navigating to instance-level targets in complex environments is a challenging problem. Many existing zero-shot methods achieve strong performance by modeling the entire environment and leveraging large language models for scene…

Path planning for robotic exploration is challenging, requiring reasoning over unknown spaces and anticipating future observations. Efficient exploration requires selecting budget-constrained paths that maximize information gain. Despite…

Navigating efficiently to an object in an unexplored environment is a critical skill for general-purpose intelligent robots. Recent approaches to this object goal navigation problem have embraced a modular strategy, integrating classical…