Related papers: Reasoning Systems for Semantic Navigation in Mobil…
Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…
Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…
Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs for planning often leads to unpredictable and unsafe…
With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for mapping, collision avoidance, and path planning. This paper…
Humans have the remarkable ability to navigate through unfamiliar environments by solely relying on our prior knowledge and descriptions of the environment. For robots to perform the same type of navigation, they need to be able to…
We present a context classification pipeline to allow a robot to change its navigation strategy based on the observed social scenario. Socially-Aware Navigation considers social behavior in order to improve navigation around people. Most of…
Reliable navigation systems have a wide range of applications in robotics and autonomous driving. Current approaches employ an open-loop process that converts sensor inputs directly into actions. However, these open-loop schemes are…
Understanding how humans cooperatively utilize semantic knowledge to explore unfamiliar environments and decide on navigation directions is critical for house service multi-robot systems. Previous methods primarily focused on single-robot…
We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…
Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…
Over the past decade, a multitude of service robots have been developed to fulfill a wide range of practical purposes. Notably, roles such as reception and robotic guidance have garnered extensive popularity. In these positions, robots are…
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…
This paper gives a survey of related work on the information visualization domain and study the real integration of the cartography paradigms in actual information search systems. Based on this study, we propose a semantic visualization and…
Semantic mapping is the incremental process of "mapping" relevant information of the world (i.e., spatial information, temporal events, agents and actions) to a formal description supported by a reasoning engine. Current research focuses on…
In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…
Navigating in environments alongside humans requires agents to reason under uncertainty and account for the beliefs and intentions of those around them. Under a sequential decision-making framework, egocentric navigation can naturally be…