相关论文: Enhancing Graph Representation of the Environment …
A key requirement for generalist robots is compositional generalization - the ability to combine atomic skills to solve complex, long-horizon tasks. While prior work has primarily focused on synthesizing a planner that sequences pre-learned…
Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
Environment representations endowed with sophisticated semantics are pivotal for facilitating seamless interaction between robots and humans, enabling them to effectively carry out various tasks. Open-vocabulary maps, powered by…
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…
Autonomous operation of service robotics in human-centric scenes remains challenging due to the need for understanding of changing environments and context-aware decision-making. While existing approaches like topological maps offer…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
Nowadays, several real-world tasks require adequate environment coverage for maintaining communication between multiple robots, for example, target search tasks, environmental monitoring, and post-disaster rescues. In this study, we look…
Understanding a visual scene incorporates objects, relationships, and context. Traditional methods working on an image mostly focus on object detection and fail to capture the relationship between the objects. Relationships can give rich…
This paper presents a framework that leverages pre-trained foundation models for robotic manipulation without domain-specific training. The framework integrates off-the-shelf models, combining multimodal perception from foundation models…
Visual representations are central to the learning and generalization capabilities of robotic manipulation policies. While existing methods rely on global or dense features, such representations often entangle task-relevant and irrelevant…
The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…
Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…
To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…
Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…
The robust interpretation of 3D environments is crucial for human-robot collaboration (HRC) applications, where safety and operational efficiency are paramount. Semantic segmentation plays a key role in this context by enabling a precise…
Autonomously driving vehicles require a complete and robust perception of the local environment. A main challenge is to perceive any other road users, where multi-object tracking or occupancy grid maps are commonly used. The presented…