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Visual-language models (VLMs) have recently been introduced in robotic mapping using the latent representations, i.e., embeddings, of the VLMs to represent semantics in the map. They allow moving from a limited set of human-created labels…
Vision-language models demonstrate unprecedented performance and generalization across a wide range of tasks and scenarios. Integrating these foundation models into robotic navigation systems opens pathways toward building general-purpose…
Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…
Vision-Language Models (VLMs) have advanced rapidly in multimodal perception and language understanding, yet it remains unclear whether they can reliably ground language into spatially coherent, plausibly executable actions in 3D digital…
Navigating spaces is an embodied experience. Examples can vary from rescue workers trying to save people from natural disasters; a tourist finding their way to the nearest coffee shop, or a gamer solving a maze. Virtual reality allows these…
We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…
Reproducible closed-loop evaluation remains a major bottleneck in Embodied AI such as visual navigation. A promising path forward is high-fidelity simulation that combines photorealistic sensor rendering with geometrically grounded…
Vision-Language Models (VLMs) have been increasingly integrated into object navigation tasks for their rich prior knowledge and strong reasoning abilities. However, applying VLMs to navigation poses two key challenges: effectively…
Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…
Among the components contributing to particle transport, geometry navigation is an important consumer of CPU cycles. The tasks performed to get answers to "basic" queries such as locating a point within a geometry hierarchy or computing…
Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…
Evaluating code generation models for 3D spatial reasoning requires executing generated code in realistic environments and assessing outputs beyond surface-level correctness. We introduce a platform VoxelCode, for analyzing code generation…
Autonomous exploration by unmanned surface vehicles (USVs) in near-shore waters requires reliable localisation and consistent mapping over extended areas, but this is challenged by GNSS degradation, environment-induced localisation…
The ability to simulate the world in a spatially consistent manner is a crucial requirement for effective world models. Such a model enables high-quality visual generation, and also ensures the reliability of world models for downstream…
Navigation is one of the fundamental tasks for automated exploration in Virtual Reality (VR). Existing technologies primarily focus on path optimization in 360-degree image datasets and 3D simulators, which cannot be directly applied to…
Achieving human-like reasoning in deep learning models for complex tasks in unknown environments remains a critical challenge in embodied intelligence. While advanced vision-language models (VLMs) excel in static scene understanding, their…
Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to execute sequential navigation actions in complex environments guided by natural language instructions. Current approaches often struggle with generalizing…
Vision-and-language navigation (VLN) stands as a key research problem of Embodied AI, aiming at enabling agents to navigate in unseen environments following linguistic instructions. In this field, generalization is a long-standing…
Ground robot navigation in complex 3D environments is often hindered by geometric ambiguity, where non-traversable structures such as furniture share local geometric properties with navigable ground. Furthermore, the computational cost of…
The generation of high-fidelity view synthesis is essential for robotic navigation and interaction but remains challenging, particularly in indoor environments and real-time scenarios. Existing techniques often require significant…