Related papers: NORM-Nav: Zero-Shot Mobile Robot Navigation with N…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
When the navigational environment is known, it can be represented as a graph where landmarks are nodes, the robot behaviors that move from node to node are edges, and the route is a set of behavioral instructions. The route path from source…
Towards human-robot coexistence, socially aware navigation is significant for mobile robots. Yet existing studies on this area focus mainly on path efficiency and pedestrian collision avoidance, which are essential but represent only a…
Ensuring safe navigation in complex environments requires accurate real-time traversability assessment and understanding of environmental interactions relative to the robot`s capabilities. Traditional methods, which assume simplified…
Off-road traversability segmentation enables autonomous navigation with applications in search-and-rescue, military operations, wildlife exploration, and agriculture. Current frameworks struggle due to significant variations in unstructured…
Zero-shot object navigation requires agents to locate unseen target objects in unfamiliar environments without prior maps or task-specific training which remains a significant challenge. Although recent advancements in vision-language…
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…
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 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…
Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…
Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To…
Autonomous robot systems for applications from search and rescue to assistive guidance should be able to engage in natural language dialog with people. To study such cooperative communication, we introduce Robot Simultaneous Localization…
Visual Object Goal Navigation (ObjectNav) requires a robot to locate a target object in an unseen environment using egocentric observations. However, decision-making policies often struggle to transfer to unseen environments and novel…
Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within fixed free workspace, therefore struggling in environments lacking viable paths…
Home-assistant robots have been a long-standing research topic, and one of the biggest challenges is searching for required objects in housing environments. Previous object-goal navigation requires the robot to search for a target object…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
Socially compliant navigation requires robots to move safely and appropriately in human-centered environments by respecting social norms. However, social norms are often ambiguous, and in a single scenario, multiple actions may be equally…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
Recent progress in large vision-language models has driven improvements in language-based semantic navigation, where an embodied agent must reach a target object described in natural language. Yet we still lack a clear, language-focused…
Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…