Related papers: MG-Nav: Dual-Scale Visual Navigation via Sparse Sp…
Audio-visual navigation enables embodied agents to navigate toward sound-emitting targets by leveraging both auditory and visual cues. However, most existing approaches rely on precomputed room impulse responses (RIRs) for binaural audio…
Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…
The drone navigation requires the comprehensive understanding of both visual and geometric information in the 3D world. In this paper, we present a Visual-Geometric Fusion Network(VGF-Net), a deep network for the fusion analysis of…
The prevailing paradigm for image-goal visual navigation often assumes access to large-scale datasets, substantial pretraining, and significant computational resources. In this work, we challenge this assumption. We show that we can collect…
Mobile robots operating in human-centered environments must generate not only collision-free paths but also trajectories that follow local behavioral conventions. Conventional costmap-based navigation emphasizes geometric feasibility and…
Zero-shot 3D Visual Grounding (3DVG) is a critical capability for open-world embodied AI. However, existing methods are fundamentally bottlenecked by the poor quality of open-vocabulary 3D proposals, suffering from inaccurate categories and…
Path planning is a basic capability of autonomous mobile robots. Former approaches in path planning exploit only the given geometric information from the environment without leveraging the inherent semantics within the environment. The…
UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over long horizons. Existing zero-shot methods remain limited, as…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…
We study zero-shot instance navigation, in which the agent navigates to a specific object without using object annotations for training. Previous object navigation approaches apply the image-goal navigation (ImageNav) task (go to the…
Neural architecture search (NAS) has recently reshaped our understanding on various vision tasks. Similar to the success of NAS in high-level vision tasks, it is possible to find a memory and computationally efficient solution via NAS with…
Audio-visual Navigation refers to an agent utilizing visual and auditory information in complex 3D environments to accomplish target localization and path planning, thereby achieving autonomous navigation. The core challenge of this task…
Vision-and-language navigation (VLN) requires an embodied agent to ground natural-language instructions into executable navigation actions in unseen environments. Existing zero-shot methods typically rely on additional waypoint prediction…
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 Navigation (ObjectNav) is a fundamental task in embodied artificial intelligence. Although significant progress has been made in semantic map construction and target direction prediction in current research, redundant exploration and…
Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…
With the rise of automation, unmanned vehicles became a hot topic both as commercial products and as a scientific research topic. It composes a multi-disciplinary field of robotics that encompasses embedded systems, control theory, path…
The increasing availability and accessibility of numerous overhead images allows us to estimate and assess the spatial arrangement of groups of geospatial target objects, which can benefit many applications, such as traffic monitoring and…
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…
Zero-shot object navigation has advanced rapidly with open-vocabulary detectors, image--text models, and language-guided exploration. However, even after current methods detect a plausible target hypothesis, the agent may still oscillate…