相关论文: The StreetLearn Environment and Dataset

Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…

Goal-oriented navigation presents a fundamental challenge for autonomous systems, requiring agents to navigate complex environments to reach designated targets. This survey offers a comprehensive analysis of multimodal navigation approaches…

Visual localization is the problem of estimating the position and orientation from which a given image (or a sequence of images) is taken in a known scene. It is an important part of a wide range of computer vision and robotics…

Vision-and-language navigation (VLN) aims to develop agents capable of navigating in realistic environments. While recent cross-modal training approaches have significantly improved navigation performance in both indoor and outdoor…

We have observed significant progress in visual navigation for embodied agents. A common assumption in studying visual navigation is that the environments are static; this is a limiting assumption. Intelligent navigation may involve…

Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…

Recent literature in the robotics community has focused on learning robot behaviors that abstract out lower-level details of robot control. To fully leverage the efficacy of such behaviors, it is necessary to select and sequence them to…

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…

Autonomous driving has rapidly developed and shown promising performance due to recent advances in hardware and deep learning techniques. High-quality datasets are fundamental for developing reliable autonomous driving algorithms. Previous…

Navigation research is attracting renewed interest with the advent of learning-based methods. However, this new line of work is largely disconnected from well-established classic navigation approaches. In this paper, we take a step towards…

We introduce WarNav, a novel real-world dataset constructed from images of the open-source DATTALION repository, specifically tailored to enable the development and benchmarking of semantic segmentation models for autonomous ground vehicle…

Behavior-related research areas such as motion prediction/planning, representation/imitation learning, behavior modeling/generation, and algorithm testing, require support from high-quality motion datasets containing interactive driving…

Car-focused navigation services are based on turns and distances of named streets, whereas navigation instructions naturally used by humans are centered around physical objects called landmarks. We present a neural model that takes…

Can the intrinsic relation between an object and the room in which it is usually located help agents in the Visual Navigation Task? We study this question in the context of Object Navigation, a problem in which an agent has to reach an…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encoders. However, these approaches often rely on large datasets…

Visual navigation by mobile robots is classically tackled through SLAM plus optimal planning, and more recently through end-to-end training of policies implemented as deep networks. While the former are often limited to waypoint planning,…

Dynamic scene understanding is the ability of a computer system to interpret and make sense of the visual information present in a video of a real-world scene. In this thesis, we present a series of frameworks for dynamic scene…

For robotic vehicles to navigate safely and efficiently in pedestrian-rich environments, it is important to model subtle human behaviors and navigation rules (e.g., passing on the right). However, while instinctive to humans, socially…

Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…