相关论文: Active Robot Vision for Distant Object Change Dete…

In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…

One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…

A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a local metric map or local policy with some fixed horizon.…

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…

Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…

Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

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…

Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…

Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…

Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…