Related papers: Bench-NPIN: Benchmarking Non-prehensile Interactiv…
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control…
Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents NeuPAN: a real-time, highly accurate, map-free,…
The socially-aware navigation system has evolved to adeptly avoid various obstacles while performing multiple tasks, such as point-to-point navigation, human-following, and -guiding. However, a prominent gap persists: in Human-Robot…
In most existing embodied navigation tasks, instructions are well-defined and unambiguous, such as instruction following and object searching. Under this idealized setting, agents are required solely to produce effective navigation outputs…
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…
We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using non-locally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
Ego-vision-based navigation in cluttered environments is crucial for mobile systems, particularly agile quadrotors. While learning-based methods have shown promise recently, head-to-head comparisons with cutting-edge optimization-based…
Autonomous vessels potentially enhance safety and reliability of seaborne trade. To facilitate the development of autonomous vessels, high-fidelity simulations are required to model realistic interactions with other vessels. However,…
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…
Interactive world models are advancing rapidly, yet existing benchmarks cover only part of the required competencies, leaving no unified standard for systematic evaluation. To fill this gap, we introduce WBench, a comprehensive multi-turn…
Collaborative navigation of heterogeneous robots in unknown environments poses significant challenges due to sensing, communication, and computational limitations. In this work, a lead robot navigates toward a target while a mobile sensor…
For robots to operate in general environments like households, they must be able to perform non-prehensile manipulation actions such as toppling and rolling to manipulate ungraspable objects. However, prior works on non-prehensile…
Recently, data-driven inertial navigation approaches have demonstrated their capability of using well-trained neural networks to obtain accurate position estimates from inertial measurement units (IMU) measurements. In this paper, we…
Electronic Navigational Charts (ENCs) are the safety-critical backbone of modern maritime navigation, yet it remains unclear whether multimodal large language models (MLLMs) can reliably interpret them. Unlike natural images or conventional…
This technical report presents the construction and analysis of polynomial navigation functions for motion planning in 3-D workspaces populated by spherical and cylindrical obstacles. The workspace is modeled as a bounded spherical region,…
A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatability (precision), despite its importance in real-world…