相关论文: Seeing the Un-Scene: Learning Amodal Semantic Maps…

This paper presents a novel framework for planning paths in maps containing unknown spaces, such as from occlusions. Our approach takes as input a semantically-annotated point cloud, and leverages an image inpainting neural network to…

Image-goal navigation aims to steer an agent towards the goal location specified by an image. Most prior methods tackle this task by learning a navigation policy, which extracts visual features of goal and observation images, compares their…

Object-Goal Navigation (ObjectNav) requires an agent to find and navigate to a target object category in unknown environments. While recent Large Language Model (LLM)-based agents exhibit zero-shot reasoning, they often rely on a "reactive"…

Many works in the recent literature introduce semantic mapping methods that use CNNs (Convolutional Neural Networks) to recognize semantic properties in images. The types of properties (eg.: room size, place category, and objects) and their…

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…

This article presents a novel approach to identifying and classifying intersections for semantic and topological mapping. More specifically, the proposed novel approach has the merit of generating a semantically meaningful map containing…

We introduce a new memory architecture, Bayesian Relational Memory (BRM), to improve the generalization ability for semantic visual navigation agents in unseen environments, where an agent is given a semantic target to navigate towards. BRM…

The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for mapping, collision avoidance, and path planning. This paper…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Recognition of floor plans has been a challenging and popular task. Despite that many recent approaches have been proposed for this task, they typically fail to make the room-level unified prediction. Specifically, multiple semantic…

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

Visual navigation takes inspiration from humans, who navigate in previously unseen environments using vision without detailed environment maps. Inspired by this, we introduce a novel no-RL, no-graph, no-odometry approach to visual…

Parameter prediction is essential for many applications, facilitating insightful interpretation and decision-making. However, in many real life domains, such as power systems, medicine, and engineering, it can be very expensive to acquire…

We introduce a novel strategy for learning to extract semantically meaningful features from aerial imagery. Instead of manually labeling the aerial imagery, we propose to predict (noisy) semantic features automatically extracted from…

For autonomous robots to navigate a complex environment, it is crucial to understand the surrounding scene both geometrically and semantically. Modern autonomous robots employ multiple sets of sensors, including lidars, radars, and cameras.…

Visual navigation follows the intuition that humans can navigate without detailed maps. A common approach is interactive exploration while building a topological graph with images at nodes that can be used for planning. Recent variations…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

In this work, we present a memory-augmented approach for image-goal navigation. Earlier attempts, including RL-based and SLAM-based approaches have either shown poor generalization performance, or are heavily-reliant on pose/depth sensors.…