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We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
Humans are known to construct cognitive maps of their everyday surroundings using a variety of perceptual inputs. As such, when a human is asked for directions to a particular location, their wayfinding capability in converting this…
As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…
We present a method for training reference-guided, perceptive reinforcement learning locomotion policies for humanoid robots in which reference trajectories are modulated in training to be consistent with terrain geometry. Aiming to deploy…
We introduce UViM, a unified approach capable of modeling a wide range of computer vision tasks. In contrast to previous models, UViM has the same functional form for all tasks; it requires no task-specific modifications which require…
A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…
Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…
To cooperate with humans effectively, virtual agents need to be able to understand and execute language instructions. A typical setup to achieve this is with a scripted teacher which guides a virtual agent using language instructions.…
One of the primary goals of Human-Robot Interaction (HRI) research is to develop robots that can interpret human behavior and adapt their responses accordingly. Adaptive learning models, such as continual and reinforcement learning, play a…
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…
Brain-computer Interface (BCI) applications based on steady-state visual evoked potentials (SSVEP) have the advantages of being fast, accurate and mobile. SSVEP is the EEG response evoked by visual stimuli that are presented at a specific…
This paper presents a wearable assistive device with the shape of a pair of eyeglasses that allows visually impaired people to navigate safely and quickly in unfamiliar environment, as well as perceive the complicated environment to…
Lacking the ability to sense ambient environments effectively, blind and visually impaired people (BVIP) face difficulty in walking outdoors, especially in urban areas. Therefore, tools for assisting BVIP are of great importance. In this…
In this paper, we discuss the potential of applying unsupervised anomaly detection in constructing AI-based interactive systems that deal with highly contextual situations, i.e., human-human communication, in collaboration with domain…
For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of…
Visual navigation is a fundamental problem in embodied AI, yet practical deployments demand long-horizon planning capabilities to address multi-objective tasks. A major bottleneck is data scarcity: policies learned from limited data often…
A quadruped robot is a promising system that can offer assistance comparable to that of dog guides due to its similar form factor. However, various challenges remain in making these robots a reliable option for blind and low-vision (BLV)…