相关论文: USA-Net: Unified Semantic and Affordance Represent…

Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…

We introduce OPEND, a benchmark for learning how to use a hand to open cabinet doors or drawers in a photo-realistic and physics-reliable simulation environment driven by language instruction. To solve the task, we propose a multi-step…

Being able to perceive the semantics and the spatial structure of the environment is essential for visual navigation of a household robot. However, most existing works only employ visual backbones pre-trained either with independent images…

Recently, the Deep Planning Network (PlaNet) approach was introduced as a model-based reinforcement learning method that learns environment dynamics directly from pixel observations. This architecture is useful for learning tasks in which…

The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…

In autonomous robot navigation, terrain cost assignment is typically performed using a semantics-based paradigm in which terrain is first labeled using a pre-trained semantic classifier and costs are then assigned according to a…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Robotics has been a popular field of research in the past few decades, with much success in industrial applications such as manufacturing and logistics. This success is led by clearly defined use cases and controlled operating environments.…

Many language-guided robotic systems rely on collapsing spatial reasoning into discrete points, making them brittle to perceptual noise and semantic ambiguity. To address this challenge, we propose RoboMAP, a framework that represents…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

Coordinating multi-robot systems (MRS) to search in unknown environments is particularly challenging for tasks that require semantic reasoning beyond geometric exploration. Classical coordination strategies rely on frontier coverage or…

Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…

Driving in the dynamic, multi-agent, and complex urban environment is a difficult task requiring a complex decision policy. The learning of such a policy requires a state representation that can encode the entire environment. Mid-level…

In this work, we present FRTree planner, a novel robot navigation framework that leverages a tree structure of free regions, specifically designed for navigation in cluttered and unknown environments with narrow passages. The framework…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…

The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…

Making sense of the world and acting in it relies on building simplified mental representations that abstract away aspects of reality. This principle of cognitive mapping is universal to agents with limited resources. Living organisms,…

Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step toward open-world embodied intelligence. For human beings, this ability is rooted in the understanding of semantic correspondence among objects,…

Agents navigating in 3D environments require some form of memory, which should hold a compact and actionable representation of the history of observations useful for decision taking and planning. In most end-to-end learning approaches the…

Automatic 3D reconstruction of indoor spaces from 2D floor plans necessitates high-precision semantic segmentation of structural elements, particularly walls. However, existing methods often struggle with detecting thin structures and…