相关论文: Safe Navigation with Human Instructions in Complex…

Natural language understanding for robotics can require substantial domain- and platform-specific engineering. For example, for mobile robots to pick-and-place objects in an environment to satisfy human commands, we can specify the language…

In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

We aim to enable a mobile robot to navigate through environments with dense crowds, e.g., shopping malls, canteens, train stations, or airport terminals. In these challenging environments, existing approaches suffer from two common…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…

We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…

In mobile robot navigation, despite advancements, the generation of optimal paths often disrupts pedestrian areas. To tackle this, we propose three key contributions to improve human-robot coexistence in shared spaces. Firstly, we have…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

Visual Language Navigation is a task that challenges robots to navigate in realistic environments based on natural language instructions. While previous research has largely focused on static settings, real-world navigation must often…

The exponentially increasing advances in robotics and machine learning are facilitating the transition of robots from being confined to controlled industrial spaces to performing novel everyday tasks in domestic and urban environments. In…

Robots that can effectively understand human intentions from actions are crucial for successful human-robot collaboration. In this work, we address the challenge of a robot navigating towards an unknown goal while also accounting for a…

The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…

Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…

We introduce DualMap, an online open-vocabulary mapping system that enables robots to understand and navigate dynamically changing environments through natural language queries. Designed for efficient semantic mapping and adaptability to…

In this paper, we propose a novel navigation system for mobile robots in pedestrian-rich sidewalk environments. Sidewalks are unique in that the pedestrian-shared space has characteristics of both roads and indoor spaces. Like vehicles on…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…