Related papers: GoalSwarm: Multi-UAV Semantic Coordination for Ope…
Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…
Open-vocabulary 3D scene understanding presents a significant challenge in the field. Recent works have sought to transfer knowledge embedded in vision-language models from 2D to 3D domains. However, these approaches often require prior…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Aerial vision-language navigation (AVLN) enables UAVs to follow natural-language instructions in complex 3D environments. However, existing zero-shot AVLN methods often suffer from unstable single-stream Vision-Language Model…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features. While these maps allow for the prediction of point-wise saliency maps when queried for a certain language concept,…
Aerial Vision-and-Language Navigation (VLN) is a novel task enabling Unmanned Aerial Vehicles (UAVs) to navigate in outdoor environments through natural language instructions and visual cues. However, it remains challenging due to the…
Deployable service and delivery robots struggle to navigate multi-floor buildings to reach object goals, as existing systems fail due to single-floor assumptions and requirements for offline, globally consistent maps. Multi-floor…
Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…
Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both…
Aerial Object Goal Navigation, a challenging frontier in Embodied AI, requires an Unmanned Aerial Vehicle (UAV) agent to autonomously explore, reason, and identify a specific target using only visual perception and language description.…
Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…
Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…
Mapping and understanding complex 3D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstruction and rich semantic comprehension. While existing 3D…
Open-Vocabulary Object Detection (OVD) faces severe performance degradation when applied to UAV imagery due to the domain gap from ground-level datasets. To address this challenge, we propose a complete UAV-oriented solution that combines…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. Here, we propose a UAV system for…
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…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
Unmanned aerial vehicle (UAV) swarms are increasingly deployed in vast low-altitude applications, owing to their capabilities in distributed sensing, flexible communication, and autonomous coordination. Nevertheless, the open and highly…
UAV navigation in unstructured outdoor environments using passive monocular vision is hindered by the substantial visual domain gap between simulation and reality. While 3D Gaussian Splatting enables photorealistic scene reconstruction from…