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Foundation models have revolutionized robotics by providing rich semantic representations without task-specific training. While many approaches integrate pretrained vision-language models (VLMs) with specialized navigation architectures,…
Existing language-driven embodied navigation paradigms face challenges in functional buildings (FBs) with highly similar features, as they lack the ability to effectively utilize priori spatial knowledge. To tackle this issue, we propose a…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…
This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning algorithms. Today, purely data-driven end-to-end models are…
Accurate pedestrian intention prediction (PIP) by Autonomous Vehicles (AVs) is one of the current research challenges in this field. In this article, we introduce PIP-Net, a novel framework designed to predict pedestrian crossing intentions…
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…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
In reinforcement learning for visual navigation, it is common to develop a model for each new task, and train that model from scratch with task-specific interactions in 3D environments. However, this process is expensive; massive amounts of…
Efficient ObjectGoal navigation (ObjectNav) in novel environments requires an understanding of the spatial and semantic regularities in environment layouts. In this work, we present a straightforward method for learning these regularities…
We present MG-Nav (Memory-Guided Navigation), a dual-scale framework for zero-shot visual navigation that unifies global memory-guided planning with local geometry-enhanced control. At its core is the Sparse Spatial Memory Graph (SMG), a…
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…
Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overhead and lack interpretability, limiting their deployment in…
Goal-oriented vision-language navigation requires robust exploration capabilities for agents to navigate to specified goals in unknown environments without step-by-step instructions. Existing methods tend to exclusively utilize…
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),…
We propose improving the cross-target and cross-scene generalization of visual navigation through learning an agent that is guided by conceiving the next observations it expects to see. This is achieved by learning a variational Bayesian…
Navigation is a fundamental capability in embodied AI, representing the intelligence required to perceive and interact within physical environments following language instructions. Despite significant progress in large Vision-Language…
Sim2Real transfer has gained popularity because it helps transfer from inexpensive simulators to real world. This paper presents a novel system that fuses components in a traditional World Model into a robust system, trained entirely within…
Large-scale pretrained foundation models have been an emerging paradigm for building artificial intelligence (AI) systems, which can be quickly adapted to a wide range of downstream tasks. This paper presents mPLUG, a new vision-language…
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,…