相关论文: Simultaneous Mapping and Target Driven Navigation

Autonomous navigation consists in an agent being able to navigate without human intervention or supervision, it affects both high level planning and low level control. Navigation is at the crossroad of multiple disciplines, it combines…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

When searching for an object humans navigate through a scene using semantic information and spatial relationships. We look for an object using our knowledge of its attributes and relationships with other objects to infer the probable…

Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving…

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…

Vision-language navigation is the task of directing an embodied agent to navigate in 3D scenes with natural language instructions. For the agent, inferring the long-term navigation target from visual-linguistic clues is crucial for reliable…

This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in…

In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…

We introduce a new memory architecture for navigation in previously unseen environments, inspired by landmark-based navigation in animals. The proposed semi-parametric topological memory (SPTM) consists of a (non-parametric) graph with…

In audio-visual navigation, an agent intelligently travels through a complex, unmapped 3D environment using both sights and sounds to find a sound source (e.g., a phone ringing in another room). Existing models learn to act at a fixed…

Object-goal navigation is a crucial engineering task for the community of embodied navigation; it involves navigating to an instance of a specified object category within unseen environments. Although extensive investigations have been…

We study the task of semantic mapping - specifically, an embodied agent (a robot or an egocentric AI assistant) is given a tour of a new environment and asked to build an allocentric top-down semantic map ("what is where?") from egocentric…

In this paper, we introduce the Semantic Environment Atlas (SEA), a novel mapping approach designed to enhance visual navigation capabilities of embodied agents. The SEA utilizes semantic graph maps that intricately delineate the…

We propose a simple but effective modular approach MOPA (Modular ObjectNav with PointGoal agents) to systematically investigate the inherent modularity of the object navigation task in Embodied AI. MOPA consists of four modules: (a) an…

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…

Humans routinely leverage semantic hints provided by signage to navigate to destinations within novel Large-Scale Indoor (LSI) environments, such as hospitals and airport terminals. However, this capability remains underexplored within the…

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…

Recent image-goal navigation (ImageNav) methods learn a perception-action policy by separately capturing semantic features of the goal and egocentric images, then passing them to a policy network. However, challenges remain: (1) Semantic…

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform…