Related papers: A Spatial Relationship Aware Dataset for Robotics
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Robot planning in partially observable domains is difficult, because a robot needs to estimate the current state and plan actions at the same time. When the domain includes many objects, reasoning about the objects and their relationships…
The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…
Reliable embodied perception from an egocentric perspective is challenging yet essential for autonomous navigation technology of intelligent mobile agents. With the growing demand of social robotics, near-field scene understanding becomes…
Existing work has observed that current text-to-image systems do not accurately reflect explicit spatial relations between objects such as 'left of' or 'below'. We hypothesize that this is because explicit spatial relations rarely appear in…
When humans and robotic agents coexist in an environment, scene understanding becomes crucial for the agents to carry out various downstream tasks like navigation and planning. Hence, an agent must be capable of localizing and identifying…
The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a key capability for understanding spatial relationships between…
6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…
Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…
Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabilities requires a cohesive understanding of the environment,…
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.…
Collaborative localization is an essential capability for a team of robots such as connected vehicles to collaboratively estimate object locations from multiple perspectives with reliant cooperation. To enable collaborative localization,…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…
Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…
Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…