相关论文: CoNVOI: Context-aware Navigation using Vision Lang…

This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…

We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…

Navigating in unseen environments is crucial for mobile robots. Enhancing them with the ability to follow instructions in natural language will further improve navigation efficiency in unseen cases. However, state-of-the-art (SOTA)…

There is a growing interest in applying large language models (LLMs) in robotic tasks, due to their remarkable reasoning ability and extensive knowledge learned from vast training corpora. Grounding LLMs in the physical world remains an…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…

Robots operating in human-centric or hazardous environments must proactively anticipate and mitigate dangers beyond basic obstacle detection. Traditional navigation systems often depend on static maps, which struggle to account for dynamic…

In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…

Robot navigation in dynamic, human-centered environments requires socially-compliant decisions grounded in robust scene understanding. Recent Vision-Language Models (VLMs) exhibit promising capabilities such as object recognition,…

Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Language Models (VLMs). We introduce a novel exploration pipeline…

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…

Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…

Vision-Language Models (VLMs) have been increasingly integrated into object navigation tasks for their rich prior knowledge and strong reasoning abilities. However, applying VLMs to navigation poses two key challenges: effectively…

Integrating large language models (LLMs) into embodied AI models is becoming increasingly prevalent. However, existing zero-shot LLM-based Vision-and-Language Navigation (VLN) agents either encode images as textual scene descriptions,…

Vision and voice are two vital keys for agents' interaction and learning. In this paper, we present a novel indoor navigation model called Memory Vision-Voice Indoor Navigation (MVV-IN), which receives voice commands and analyzes multimodal…

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs…

Accurately predicting human behaviors is crucial for mobile robots operating in human-populated environments. While prior research primarily focuses on predicting actions in single-human scenarios from an egocentric view, several robotic…

Traditional approaches to off-road autonomy rely on separate models for terrain classification, height estimation, and quantifying slip or slope conditions. Utilizing several models requires training each component separately, having task…

Robots operating in shared human environments must not only navigate, interact, and detect their surroundings, they must also interpret and respond to dynamic, and often unpredictable, human behaviours. Although recent advances have shown…

This paper introduces an innovative application of foundation models, enabling Unmanned Ground Vehicles (UGVs) equipped with an RGB-D camera to navigate to designated destinations based on human language instructions. Unlike learning-based…