相关论文: Wayfinding through an unfamiliar environment
Navigating complex urban environments using natural language instructions poses significant challenges for embodied agents, including noisy language instructions, ambiguous spatial references, diverse landmarks, and dynamic street scenes.…
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…
This paper investigates the automatic exploration problem under the unknown environment, which is the key point of applying the robotic system to some social tasks. The solution to this problem via stacking decision rules is impossible to…
Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…
Large environments are challenging for path planning algorithms as the size of the configuration space increases. Furthermore, if the environment is mainly unexplored, large amounts of the path are planned through unknown areas. Hence, a…
People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…
Visually impaired persons find it difficult to know about their surroundings while walking on a road. Walking sticks used by them can only give them information about the obstacles in the stick's proximity. Moreover, it is mostly effective…
Navigating from 'A to B' remains a serious problem for many people with mobility impairments, due to the need to avoid accessibility barriers. Yet there is currently no effective routing tool that is regularly used by people with…
Unfamiliar, large-scale virtual environments are difficult to navigate. This paper presents design guidelines to ease navigation in such virtual environments. The guidelines presented here focus on the design and placement of landmarks in…
We consider the problems of exploration and point-goal navigation in previously unseen environments, where the spatial complexity of indoor scenes and partial observability constitute these tasks challenging. We argue that learning…
We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Only a small percentage of blind and low-vision people use traditional mobility aids such as a cane or a guide dog. Various assistive technologies have been proposed to address the limitations of traditional mobility aids. These devices…
Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…
We investigate the autonomous navigation of a mobile robot in the presence of other moving vehicles under time-varying uncertain environmental disturbances. We first predict the future state distributions of other vehicles to account for…
Despite diverse mobility needs worldwide, existing mapping tools fail to address the varied experiences of different mobility device users. This paper presents a large-scale online survey exploring how five mobility groups -- users of…
Humans rely on the synergistic control of head (cephalomotor) and eye (oculomotor) to efficiently search for visual information in 360{\deg}. However, prior approaches to visual search are limited to a static image, neglecting the physical…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…
Today, many of the aid systems deployed for visually impaired people are mostly made for a single purpose. Be it navigation, object detection, or distance perceiving. Also, most of the deployed aid systems use indoor navigation which…