相关论文: Grounding Implicit Goal Description for Robot Indo…
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of…
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…
Ambiguities are inevitable in human-robot interaction, especially when a robot follows user instructions in a large, shared space. For example, if a user asks the robot to find an object in a home environment with underspecified…
When instructing robots, users want to flexibly express constraints, refer to arbitrary landmarks, and verify robot behavior, while robots must disambiguate instructions into specifications and ground instruction referents in the real…
Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…
Contemporary approaches to perception, planning, estimation, and control have allowed robots to operate robustly as our remote surrogates in uncertain, unstructured environments. This progress now creates an opportunity for robots to…
Autonomous robot systems for applications from search and rescue to assistive guidance should be able to engage in natural language dialog with people. To study such cooperative communication, we introduce Robot Simultaneous Localization…
This paper presents an architecture and methodology to empower a service robot to navigate an indoor environment with semantic decision making, given RGB ego view. This method leverages the knowledge of robot's actuation capability and that…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…
Following navigation instructions in natural language requires a composition of language, action, and knowledge of the environment. Knowledge of the environment may be provided via visual sensors or as a symbolic world representation…
On the one hand, speech is a key aspect to people's communication. On the other, it is widely acknowledged that language proficiency is related to intelligence. Therefore, intelligent robots should be able to understand, at least, people's…
Autonomous aircraft must safely operate in non-towered airspace, where coordination relies on voice-based communication among human pilots. Safe operation requires an aircraft to predict the intent, and corresponding goal location, of other…
Car-focused navigation services are based on turns and distances of named streets, whereas navigation instructions naturally used by humans are centered around physical objects called landmarks. We present a neural model that takes…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
Construction robotics increasingly relies on natural language processing for task execution, creating a need for robust methods to interpret commands in complex, dynamic environments. While existing research primarily focuses on what tasks…
Navigating efficiently to an object in an unexplored environment is a critical skill for general-purpose intelligent robots. Recent approaches to this object goal navigation problem have embraced a modular strategy, integrating classical…
Robots are required to not only learn spatial concepts autonomously but also utilize such knowledge for various tasks in a domestic environment. Spatial concept represents a multimodal place category acquired from the robot's spatial…
We present Flipper, a natural language interface for describing high-level task specifications for robots that are compiled into robot actions. Flipper starts with a formal core language for task planning that allows expressing rich…
Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…