Related papers: DIV-Nav: Open-Vocabulary Spatial Relationships for…
Object-goal navigation is a crucial engineering task for the community of embodied navigation; it involves navigating to an instance of a specified object category within unseen environments. Although extensive investigations have been…
Zero-Shot Object Navigation (ZSON) requires agents to autonomously locate and approach unseen objects in unfamiliar environments and has emerged as a particularly challenging task within the domain of Embodied AI. Existing datasets for…
Household environments are visually diverse. Embodied agents performing Vision-and-Language Navigation (VLN) in the wild must be able to handle this diversity, while also following arbitrary language instructions. Recently, Vision-Language…
The task of Visual Object Navigation (VON) involves an agent's ability to locate a particular object within a given scene. In order to successfully accomplish the VON task, two essential conditions must be fulfilled:1) the user must know…
In this paper, we focus on the problem of efficiently locating a target object described with free-form language using a mobile robot equipped with vision sensors (e.g., an RGBD camera). Conventional active visual search predefines a set of…
We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…
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…
Enabling robots to navigate following diverse language instructions in unexplored environments is an attractive goal for human-robot interaction. However, this goal is challenging because different navigation tasks require different…
Adaptive navigation in unfamiliar indoor environments is crucial for household service robots. Despite advances in zero-shot perception and reasoning from vision-language models, existing navigation systems still rely on single-pass scoring…
Following human instructions to explore and search for a specified target in an unfamiliar environment is a crucial skill for mobile service robots. Most of the previous works on object goal navigation have typically focused on a single…
The relationships between objects and language are fundamental to meaningful communication between humans and AI, and to practically useful embodied intelligence. We introduce HieraNav, a multi-granularity, open-vocabulary goal navigation…
How can we build general-purpose robot systems for open-world semantic navigation, e.g., searching a novel environment for a target object specified in natural language? To tackle this challenge, we introduce OSG Navigator, a modular system…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
Modern intelligent and autonomous robotic applications often require robots to have more information about their environment than that provided by traditional occupancy grid maps. For example, a robot tasked to perform autonomous semantic…
Object-oriented embodied navigation aims to locate specific objects, defined by category or depicted in images. Existing methods often struggle to generalize to open vocabulary goals without extensive training data. While recent advances in…
Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…
Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…
Image-text retrieval has developed rapidly in recent years. However, it is still a challenge in remote sensing due to visual-semantic imbalance, which leads to incorrect matching of non-semantic visual and textual features. To solve this…
Zero-shot object navigation (ZSON) allows robots to find target objects in unfamiliar environments using natural language instructions, without relying on pre-built maps or task-specific training. Recent general-purpose models, such as…
Object search is a challenging task because when given complex language descriptions (e.g., "find the white cup on the table"), the robot must move its camera through the environment and recognize the described object. Previous works map…