相关论文: Advancing Object Goal Navigation Through LLM-enhan…

Open-World Tracking (OWT) aims to track every object of any category, which requires the model to have strong generalization capabilities. Trackers can improve their generalization ability by leveraging Visual Language Models (VLMs).…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…

Zero-shot open-vocabulary object navigation has progressed rapidly with the emergence of large Vision-Language Models (VLMs) and Large Language Models (LLMs), now widely used as high-level decision-makers instead of end-to-end policies.…

Existing multimodal UAV object detection methods often overlook the impact of semantic gaps between modalities, which makes it difficult to achieve accurate semantic and spatial alignments, limiting detection performance. To address this…

To advance the field of autonomous robotics, particularly in object search tasks within unexplored environments, we introduce a novel framework centered around the Probable Object Location (POLo) score. Utilizing a 3D object probability…

Unsupervised domain adaptation leverages abundant labeled data from various source domains to generalize onto unlabeled target data. Prior research has primarily focused on learning domain-invariant features across the source and target…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities…

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…

Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…

Humans can collaborate and complete tasks based on visual signals and instruction from the environment. Training such a robot is difficult especially due to the understanding of the instruction and the complicated environment. Previous…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

Large language models (LLMs) exhibit in-context learning abilities which enable the same model to perform several tasks without any task-specific training. In contrast, traditional adaptation approaches, such as fine-tuning, modify the…

Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in…

Natural language instructions for visual navigation often use scene descriptions (e.g., "bedroom") and object references (e.g., "green chairs") to provide a breadcrumb trail to a goal location. This work presents a transformer-based…

Recent advances in large Vision-Language Models (VLMs) have provided rich semantic understanding that empowers drones to search for open-set objects via natural language instructions. However, prior systems struggle to integrate VLMs into…

Moving objects to find a fully-occluded target object, known as mechanical search, is a challenging problem in robotics. As objects are often organized semantically, we conjecture that semantic information about object relationships can…

Large language models (LLMs) have undergone significant expansion and have been increasingly integrated across various domains. Notably, in the realm of robot task planning, LLMs harness their advanced reasoning and language comprehension…

The field of object detection and understanding is rapidly evolving, driven by advances in both traditional CNN-based models and emerging multi-modal large language models (LLMs). While CNNs like ResNet and YOLO remain highly effective for…