相关论文: ViKiNG: Vision-Based Kilometer-Scale Navigation wi…

Robotic navigation in unknown, cluttered environments with limited sensing capabilities poses significant challenges in robotics. Local trajectory optimization methods, such as Model Predictive Path Intergal (MPPI), are a promising solution…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…

We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to reach a desired goal location by traversing an environment…

Natural environments pose significant challenges for autonomous robot navigation, particularly due to their unstructured and ever-changing nature. Hiking trails, with their dynamic conditions influenced by weather, vegetation, and human…

Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…

Imitation learning provides a powerful framework for goal-conditioned visual navigation in mobile robots, enabling obstacle avoidance while respecting human preferences and social norms. However, its effectiveness depends critically on the…

Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…

Recent studies have explored pretrained (foundation) models for vision-based robotic navigation, aiming to achieve generalizable navigation and positive transfer across diverse environments while enhancing zero-shot performance in unseen…

The current paper presents how a predictive coding type deep recurrent neural networks can generate vision-based goal-directed plans based on prior learning experience by examining experiment results using a real arm robot. The proposed…

How do large language models solve spatial navigation tasks? We investigate this by training GPT-2 models on three spatial learning paradigms in grid environments: passive exploration (Foraging Model- predicting steps in random walks),…

We introduce Goal-Conditioned Visual Navigation Instruction Generation (GoViG), a new task that aims to generate contextually coherent navigation instructions solely from egocentric visual observations of initial and goal states. Unlike…

We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…

We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…

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…

Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical…

Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…

Visual homing is a lightweight approach to visual navigation. Given the stored information of an initial 'home' location, the navigation task back to this location is achieved from any other location by comparing the stored home information…