相关论文: Stubborn: A Strong Baseline for Indoor Object Navi…
We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…
Vision-Language Models (VLMs) have been increasingly integrated into object navigation tasks for their rich prior knowledge and strong reasoning abilities. However, applying VLMs to navigation poses two key challenges: effectively…
Navigating to out-of-sight targets from human instructions in unfamiliar environments is a core capability for service robots. Despite substantial progress, most approaches underutilize reusable, persistent memory, constraining performance…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
The challenge of mapping indoor environments is addressed. Typical heuristic algorithms for solving the motion planning problem are frontier-based methods, that are especially effective when the environment is completely unknown. However,…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
We introduce LOG-Nav, an efficient layout-aware object-goal navigation approach designed for complex multi-room indoor environments. By planning hierarchically leveraging a global topologigal map with layout information and local imperative…
In this paper, we present an approach for dynamic exploration and mapping of unknown environments using a swarm of biobotic sensing agents, with a stochastic natural motion model and a leading agent (e.g., an unmanned aerial vehicle). The…
Navigating through unstructured environments is a basic capability of intelligent creatures, and thus is of fundamental interest in the study and development of artificial intelligence. Long-range navigation is a complex cognitive task that…
We present algorithms for uniformly covering an unknown indoor region with a swarm of simple, anonymous and autonomous mobile agents. The exploration of such regions is made difficult by the lack of a common global reference frame, severe…
Intelligent navigation among social crowds is an essential aspect of mobile robotics for applications such as delivery, health care, or assistance. Deep Reinforcement Learning emerged as an alternative planning method to conservative…
Common approaches for task-agnostic exploration learn tabula-rasa --the agent assumes isolated environments and no prior knowledge or experience. However, in the real world, agents learn in many environments and always come with prior…
What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…
In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…
Autonomous exploration in unknown environments is a critical challenge in robotics, particularly for applications such as indoor navigation, search and rescue, and service robotics. Traditional exploration strategies, such as frontier-based…
One of the key challenges in the semantic mapping problem in postdisaster environments is how to analyze a large amount of data efficiently with minimal supervision. To address this challenge, we propose a deep learning-based semantic…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
Object navigation is defined as navigating to an object of a given label in a complex, unexplored environment. In its general form, this problem poses several challenges for Robotics: semantic exploration of unknown environments in search…
We deal with the navigation problem where the agent follows natural language instructions while observing the environment. Focusing on language understanding, we show the importance of spatial semantics in grounding navigation instructions…
We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…