相关论文: MultiON: Benchmarking Semantic Map Memory using Mu…

Existing methods for multi-agent navigation typically assume fully known environments, offering limited support for partially known scenarios with outdated or imperfect prior maps, such as warehouses or factory floors. There, agents need to…

We present SGoLAM, short for simultaneous goal localization and mapping, which is a simple and efficient algorithm for Multi-Object Goal navigation. Given an agent equipped with an RGB-D camera and a GPS/Compass sensor, our objective is to…

Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…

Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…

Getting robots to navigate to multiple objects autonomously is essential yet difficult in robot applications. One of the key challenges is how to explore environments efficiently with camera sensors only. Existing navigation methods mainly…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…

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…

Object goal navigation (ObjectNav) in unseen environments is a fundamental task for Embodied AI. Agents in existing works learn ObjectNav policies based on 2D maps, scene graphs, or image sequences. Considering this task happens in 3D…

When searching for an object humans navigate through a scene using semantic information and spatial relationships. We look for an object using our knowledge of its attributes and relationships with other objects to infer the probable…

This paper addresses the Object Goal Navigation problem, where a robot must efficiently find a target object in an unknown environment. Existing implicit memory-based methods struggle with long-term memory retention and planning, while…

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…

For embodied agents, navigation is an important ability but not an isolated goal. Agents are also expected to perform specific tasks after reaching the target location, such as picking up objects and assembling them into a particular…

This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…

Object Goal Navigation (ObjectNav) refers to an agent navigating to an object in an unseen environment, which is an ability often required in the accomplishment of complex tasks. While existing methods demonstrate proficiency in isolated…

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…

Semantic reasoning and dynamic planning capabilities are crucial for an autonomous agent to perform complex navigation tasks in unknown environments. It requires a large amount of common-sense knowledge, that humans possess, to succeed in…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Autonomous agents operating in domains such as robotics or video game simulations must adapt to changing tasks without forgetting about the previous ones. This process called Continual Reinforcement Learning poses non-trivial difficulties,…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Understanding and mapping a new environment are core abilities of any autonomously navigating agent. While classical robotics usually estimates maps in a stand-alone manner with SLAM variants, which maintain a topological or metric…