相关论文: Grounding Implicit Goal Description for Robot Indo…

Corrections offer a natural modality for people to provide feedback to a robot, by (i) intervening in the robot's behavior when they believe the robot is failing (or will fail) the task objectives and (ii) modifying the robot's behavior to…

Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from robotic systems, animal studies, and human research to explore…

Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…

Effective collaboration between a robot and a person requires natural communication. When a robot travels with a human companion, the robot should be able to explain its navigation behavior in natural language. This paper explains how a…

Grounding open-ended semantic instructions into physically executable local goals is a fundamental challenge in human-robot interaction. While existing navigation frameworks often regress deterministic waypoints, this rigid formulation…

Tracking by natural language specification aims to locate the referred target in a sequence based on the natural language description. Existing algorithms solve this issue in two steps, visual grounding and tracking, and accordingly deploy…

Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…

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…

Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

Grounding a command to the visual environment is an essential ingredient for interactions between autonomous vehicles and humans. In this work, we study the problem of language grounding for autonomous vehicles, which aims to localize a…

Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…

In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…

Narrated instructional videos often show and describe manipulations of similar objects, e.g., repairing a particular model of a car or laptop. In this work we aim to reconstruct such objects and to localize associated narrations in 3D.…

We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provide natural language prompts (e.g.…

Humans are able to identify a referred visual object in a complex scene via a few rounds of natural language communications. Success communication requires both parties to engage and learn to adapt for each other. In this paper, we…

A grand goal in AI is to build a robot that can accurately navigate based on natural language instructions, which requires the agent to perceive the scene, understand and ground language, and act in the real-world environment. One key…

This paper presents INGRESS, a robot system that follows human natural language instructions to pick and place everyday objects. The core issue here is the grounding of referring expressions: infer objects and their relationships from input…

This paper deals with the problem of autonomous navigation of a mobile robot in an unknown 2D environment to fully explore the environment as efficiently as possible. We assume a terrestrial mobile robot equipped with a ranging sensor with…

Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…