相关论文: Generating Landmark Navigation Instructions from M…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
The world is filled with a wide variety of objects. For robots to be useful, they need the ability to find arbitrary objects described by people. In this paper, we present LeLaN(Learning Language-conditioned Navigation policy), a novel…
Motion planning in navigation systems is highly susceptible to upstream perceptual errors, particularly in human detection and tracking. To mitigate this issue, the concept of guidance points--a novel directional cue within a reinforcement…
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…
Humans can orient themselves in their 3D environments using simple 2D maps. Differently, algorithms for visual localization mostly rely on complex 3D point clouds that are expensive to build, store, and maintain over time. We bridge this…
In recent years, we have seen significant steps taken in the development of self-driving cars. Multiple companies are starting to roll out impressive systems that work in a variety of settings. These systems can sometimes give the…
Language understanding is essential for the navigation agent to follow instructions. We observe two kinds of issues in the instructions that can make the navigation task challenging: 1. The mentioned landmarks are not recognizable by the…
In the last decade, autonomous navigation for roboticshas been leveraged by deep learning and other approachesbased on machine learning. These approaches have demon-strated significant advantages in robotics performance. Butthey have the…
Navigation is a must-have skill for any mobile robot. A core challenge in navigation is the need to account for an ample number of possible configurations of environment and navigation contexts. We claim that a mobile robot should be able…
Humans have a natural ability to effortlessly comprehend linguistic commands such as "park next to the yellow sedan" and instinctively know which region of the road the vehicle should navigate. Extending this ability to autonomous vehicles…
Lane-topology prediction is a critical component of safe and reliable autonomous navigation. An accurate understanding of the road environment aids this task. We observe that this information often follows conventions encoded in natural…
The challenging task of Vision-and-Language Navigation (VLN) requires embodied agents to follow natural language instructions to reach a goal location or object (e.g. `walk down the hallway and turn left at the piano'). For agents to…
Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…
Text-to-image generation has made remarkable progress with the emergence of diffusion models. However, it is still a difficult task to generate images for street views based on text, mainly because the road topology of street scenes is…
We propose a novel type of map for visual navigation, a renderable neural radiance map (RNR-Map), which is designed to contain the overall visual information of a 3D environment. The RNR-Map has a grid form and consists of latent codes at…
In this work, we propose an AI-based technique using freely available satellite images like Landsat and Sentinel to create natural features over OSM in congruence with human editors acting as initiators and validators. The method is based…
Robotic commands in natural language usually contain various spatial descriptions that are semantically similar but syntactically different. Mapping such syntactic variants into semantic concepts that can be understood by robots is…
In this paper, we introduce the map-language navigation task where an agent executes natural language instructions and moves to the target position based only on a given 3D semantic map. To tackle the task, we design the instruction-aware…
Charts provide visual representations of data and are widely used for analyzing information, addressing queries, and conveying insights to others. Various chart-related downstream tasks have emerged recently, such as question-answering and…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…