相关论文: ViPlanner: Visual Semantic Imperative Learning for…

We train embodied neural networks to plan and navigate unseen complex 3D environments, emphasising real-world deployment. Rather than requiring prior knowledge of the agent or environment, the planner learns to model the state transitions…

The problem of path planning has been studied for years. Classic planning pipelines, including perception, mapping, and path searching, can result in latency and compounding errors between modules. While recent studies have demonstrated the…

Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…

The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…

This paper solves the planar navigation problem by recourse to an online reactive scheme that exploits recent advances in SLAM and visual object recognition to recast prior geometric knowledge in terms of an offline catalogue of familiar…

Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…

Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

The hierarchy of global and local planners is one of the most commonly utilized system designs in autonomous robot navigation. While the global planner generates a reference path from the current to goal locations based on the pre-built…

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…

We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…

Integrating Large Language Models with symbolic planners is a promising direction for obtaining verifiable and grounded plans, with recent work extending this idea to visual domains using Vision-Language Models (VLMs). However, a rigorous…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within fixed free workspace, therefore struggling in environments lacking viable paths…

Robotic navigation has been approached as a problem of 3D reconstruction and planning, as well as an end-to-end learning problem. However, long-range navigation requires both planning and reasoning about local traversability, as well as…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a probabilistic planning framework that…