相关论文: Lifelong update of semantic maps in dynamic enviro…
It is important for daily life support robots to detect changes in their environment and perform tasks. In the field of anomaly detection in computer vision, probabilistic and deep learning methods have been used to calculate the image…
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…
Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…
The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To…
Recent advancements in generative artificial intelligence have introduced groundbreaking approaches to innovating next-generation semantic communication, which prioritizes conveying the meaning of a message rather than merely transmitting…
State-of-the-art deep neural network recognition systems are designed for a static and closed world. It is usually assumed that the distribution at test time will be the same as the distribution during training. As a result, classifiers are…
Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic…
Emotion recognition plays a crucial role in various domains of human-robot interaction. In long-term interactions with humans, robots need to respond continuously and accurately, however, the mainstream emotion recognition methods mostly…
Inventory monitoring in homes, factories, and retail stores relies on maintaining data despite objects being swapped, added, removed, or moved. We introduce Lifelong LERF, a method that allows a mobile robot with minimal compute to jointly…
Planning with world models offers a powerful paradigm for robotic control. Conventional approaches train a model to predict future frames conditioned on current frames and actions, which can then be used for planning. However, the objective…
Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…
Bridging the physical and digital world through interaction remains a core challenge in augmented reality (AR). Existing systems target single objects, limiting support for planning, comparison, and assembly tasks that depend on…
Spatial understanding is a crucial capability that enables robots to perceive their surroundings, reason about their environment, and interact with it meaningfully. In modern robotics, these capabilities are increasingly provided by…
While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…
Remembering important information from the past and continuing to talk about it in the present are crucial in long-term conversations. However, previous literature does not deal with cases where the memorized information is outdated, which…
In recent years, there has been a resurgence in methods that use distributed (neural) representations to represent and reason about semantic knowledge for robotics applications. However, while robots often observe previously unknown…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a…
Significant progress has been made in open-vocabulary mobile manipulation, where the goal is for a robot to perform tasks in any environment given a natural language description. However, most current systems assume a static environment,…
Semantic vectors are learned from data to express semantic relationships between elements of information, for the purpose of solving and informing downstream tasks. Other models exist that learn to map and classify supervised data. However,…