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

Recent approaches have shown that training deep neural networks directly on large-scale image-text pair collections enables zero-shot transfer on various recognition tasks. One central issue is how this can be generalized to object…

Direct search for objects as part of navigation poses a challenge for small items. Utilizing context in the form of object-object relationships enable hierarchical search for targets efficiently. Most of the current approaches tend to…

Vision-language models (VLMs) such as CLIP demonstrate strong performance but struggle when adapted to downstream tasks. Prompt learning has emerged as an efficient and effective strategy to adapt VLMs while preserving their pre-trained…

Aligning large language models (LLMs) with diverse and multifaceted user preferences is a fundamental challenge in personalized AI systems. Existing multi-objective alignment methods either rely on costly training or require pre-trained…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

Object-level Simultaneous Localization and Mapping (SLAM), which incorporates semantic information for high-level scene understanding, faces challenges of under-constrained optimization due to sparse observations. Prior work has introduced…

Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions and navigate through previously unseen environments. Recent approaches increasingly employ large language models (LLMs) as high-level navigators…

Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is often challenging due to the diversity of scenes, large…

Global localization is a fundamental capability required for long-term and drift-free robot navigation. However, current methods fail to relocalize when faced with significantly different viewpoints. We present ROMAN (Robust Object Map…

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:…

Lifestyle support through robotics is an increasingly promising field, with expectations for robots to take over or assist with chores like floor cleaning, table setting and clearing, and fetching items. The growth of AI, particularly…

Navigating human-filled spaces is crucial for the interactive social robots to support advanced services, such as cooperative carrying, which enables service provision in complex and crowded environments while adapting behavior based on…

Object Simultaneous Localization and Mapping (SLAM) systems struggle to correctly associate semantically similar objects in close proximity, especially in cluttered indoor environments and when scenes change. We present Semantic Enhancement…

Language models have emerged as a critical area of focus in artificial intelligence, particularly with the introduction of groundbreaking innovations like ChatGPT. Large-scale Transformer networks have quickly become the leading approach…

Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…

Reinforcement Learning (RL) agents often struggle to generalize knowledge to new tasks, even those structurally similar to ones they have mastered. Although recent approaches have attempted to mitigate this issue via zero-shot transfer,…

Unsupervised localization and segmentation are long-standing robot vision challenges that describe the critical ability for an autonomous robot to learn to decompose images into individual objects without labeled data. These tasks are…

Robots deployed in unstructured human environments must frequently execute long-horizon missions, such as find the mug, then the chair, then the printer, under strict operational constraints. While contemporary zero-shot Object Navigation…

We propose a feasibility study for real-time automated data standardization leveraging Large Language Models (LLMs) to enhance seamless positioning systems in IoT environments. By integrating and standardizing heterogeneous sensor data from…

Recognising the characteristics of objects while a robot handles them is crucial for adjusting motions that ensure stable and efficient interactions with containers. Ahead of realising stable and efficient robot motions for…