相关论文: Pharos: improving navigation instructions on smart…

This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…

In current navigating platforms, the user's orientation is typically estimated based on the difference between two consecutive locations. In other words, the orientation cannot be identified until the second location is taken. This…

Many known planning tasks have inherent constraints concerning the best order in which to achieve the goals. A number of research efforts have been made to detect such constraints and to use them for guiding search, in the hope of speeding…

Despite significant algorithmic advances in vision-based positioning, a comprehensive probabilistic framework to study its performance has remained unexplored. The main objective of this paper is to develop such a framework using ideas from…

Landmarks are central to how people navigate, but most navigation technologies do not incorporate them into their representations. We propose the landmark graph generation task (creating landmark-based spatial representations from natural…

We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…

Recognition of goals and plans using incomplete evidence from action execution can be done efficiently by using planning techniques. In many applications it is important to recognize goals and plans not only accurately, but also quickly. In…

This paper presents a novel data-driven navigation system to navigate an Unmanned Vehicle (UV) in GPS-denied, feature-deficient environments such as tunnels, or mines. The method utilizes landmarks that vehicle can deploy and measure range…

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…

Finding information about tourist places to visit is a challenging problem that people face while visiting different countries. This problem is accentuated when people are coming from different countries, speak different languages, and are…

We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using non-locally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about…

Object-goal visual navigation requires robots to reason over semantic structure and act effectively under partial observability. Recent approaches based on object-level topological maps enable long-horizon navigation without dense geometric…

This paper presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods require environment-specific in-situ system adjustment, e.g. from human experts,…

Predicting pedestrian movements remains a complex and persistent challenge in robot navigation research. We must evaluate several factors to achieve accurate predictions, such as pedestrian interactions, the environment, crowd density, and…

This paper considers a scenario in city navigation: an AI agent is provided with language descriptions of the goal location with respect to some well-known landmarks; By only observing the scene around, including recognizing landmarks and…

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…

Recommender systems have become essential tools for enhancing user experiences across various domains. While extensive research has been conducted on recommender systems for movies, music, and e-commerce, the rapidly growing and…

Learning automatically the structure of object categories remains an important open problem in computer vision. In this paper, we propose a novel unsupervised approach that can discover and learn landmarks in object categories, thus…

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.…

Though visual and repeat navigation is a convenient solution for mobile robot self-navigation, achieving balance between efficiency and robustness in task environment still remains challenges. In this paper, we propose a novel visual and…