相关论文: Multi-Object Navigation in real environments using…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform…

While large vision-language models (VLMs) show promise for object goal navigation, current methods still struggle with low success rates and inefficient localization of unseen objects--failures primarily attributed to weak temporal-spatial…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…

Navigation of terrestrial robots is typically addressed either with localization and mapping (SLAM) followed by classical planning on the dynamically created maps, or by machine learning (ML), often through end-to-end training with…

We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely moving around. Factors such as varying crowd densities,…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

Deep Reinforcement Learning (DRL) is hugely successful due to the availability of realistic simulated environments. However, performance degradation during simulation to real-world transfer still remains a challenging problem for the…

There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…

Object-goal navigation requires mobile robots to efficiently locate targets with visual and spatial information, yet existing methods struggle with generalization in unseen environments. Heuristic approaches with naive metrics fail in…

Robots have been successfully used to perform tasks with high precision. In real-world environments with sparse rewards and multiple goals, learning is still a major challenge and Reinforcement Learning (RL) algorithms fail to learn good…

In the context of autonomous navigation, effectively conveying abstract navigational cues to agents in dynamic environments presents significant challenges, particularly when navigation information is derived from diverse modalities such as…

The Multi-Object Navigation (MultiON) task requires a robot to localize an instance (each) of multiple object classes. It is a fundamental task for an assistive robot in a home or a factory. Existing methods for MultiON have viewed this as…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

Learning effective visuomotor policies for robots purely from data is challenging, but also appealing since a learning-based system should not require manual tuning or calibration. In the case of a robot operating in a real environment the…

Traditional path-planning techniques treat humans as obstacles. This has changed since robots started to enter human environments. On modern robots, social navigation has become an important aspect of navigation systems. To use…

With the rise of automation, unmanned vehicles became a hot topic both as commercial products and as a scientific research topic. It composes a multi-disciplinary field of robotics that encompasses embedded systems, control theory, path…

Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…

Autonomous driving promises to transform road transport. Multi-vehicle and multi-lane scenarios, however, present unique challenges due to constrained navigation and unpredictable vehicle interactions. Learning-based methods---such as deep…

Solving real-world complex tasks using reinforcement learning (RL) without high-fidelity simulation environments or large amounts of offline data can be quite challenging. Online RL agents trained in imperfect simulation environments can…