相关论文: VGPN: Voice-Guided Pointing Robot Navigation for H…
Speech is one of the most common forms of communication in humans. Speech commands are essential parts of multimodal controlling of prosthetic hands. In the past decades, researchers used automatic speech recognition systems for controlling…
An integral part of spreadsheet auditing is navigation. For sufferers of Repetitive Strain Injury who need to use voice recognition technology this navigation can be highly problematic. To counter this the authors have developed an…
Vision-and-language navigation (VLN), a frontier study aiming to pave the way for general-purpose robots, has been a hot topic in the computer vision and natural language processing community. The VLN task requires an agent to navigate to a…
Teleportation, a widely-used locomotion technique in Virtual Reality (VR), allows instantaneous movement within VR environments. Enhanced hand tracking in modern VR headsets has popularized hands-only teleportation methods, which eliminate…
We propose a multi-head attention mechanism as a blending layer in a neural network model that translates natural language to a high level behavioral language for indoor robot navigation. We follow the framework established by (Zang et al.,…
A robot that can carry out a natural-language instruction has been a dream since before the Jetsons cartoon series imagined a life of leisure mediated by a fleet of attentive robot helpers. It is a dream that remains stubbornly distant.…
Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…
The potential of gaze for hands-free mobile interaction is increasingly evident. While each gaze input technique presents distinct advantages and limitations, a combination can amplify strengths and mitigate challenges. We report on the…
Recent research on Vision-and-Language Navigation (VLN) indicates that agents suffer from poor generalization in unseen environments due to the lack of realistic training environments and high-quality path-instruction pairs. Most existing…
Quadruped robots have the potential to guide blind and low vision (BLV) people due to their highly flexible locomotion and emotional value provided by their bionic forms. However, the development of quadruped guide robots rarely involves…
Navigation in cluttered environments often requires robots to tolerate contact with movable or deformable objects to maintain efficiency. Existing contact-tolerant motion planning (CTMP) methods rely on indirect spatial representations…
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…
Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…
Vision-Language Navigation (VLN) is a challenging task that requires an embodied agent to perform action-level modality alignment, i.e., make instruction-asked actions sequentially in complex visual environments. Most existing VLN agents…
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…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
Navigating to a specified object in an unknown environment is a fundamental yet challenging capability of embodied intelligence. However, current methods struggle to balance decision frequency with intelligence, resulting in decisions…
We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…
In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…
Trust prediction is a key issue in human-robot collaboration, especially in construction scenarios where maintaining appropriate trust calibration is critical for safety and efficiency. This paper introduces the Performance-guided…