相关论文: VLM-Social-Nav: Socially Aware Robot Navigation th…

We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

While powered wheelchairs reduce physical fatigue as opposed to manual wheelchairs for individuals with mobility impairment, they demand high cognitive workload due to information processing, decision making and motor coordination. Current…

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an…

Robots operating in everyday environments must often decide when and whether to engage with people, yet such decisions often hinge on subtle nonverbal cues that unfold over time and are difficult to model explicitly. Drawing on a five-day…

Vision-Language Model (VLM) is an important component to enable robust robot manipulation. Yet, using it to translate human instructions into an action-resolvable intermediate representation often needs a tradeoff between…

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…

Human-robot collaboration (HRC) can benefit from robots' abilities to interpret human emotional states. However, current emotion recognition (ER) models in HRC often fall short, particularly due to their reliance on acted datasets and…

Urban micromobility applications, such as delivery robots, demand reliable navigation across large-scale urban environments while following long-horizon route instructions. This task is particularly challenging due to the dynamic and…

Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…

In high-stakes domains, small task-specific vision models are crucial due to their low computational requirements and the availability of numerous methods to explain their results. However, these explanations often reveal that the models do…

Vision-Language Models (VLM) can generate plausible high-level plans when prompted with a goal, the context, an image of the scene, and any planning constraints. However, there is no guarantee that the predicted actions are geometrically…

Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense and spatial reasoning for efficient exploration in…

As embodied AI transitions to real-world deployment, the success of the Vision-and-Language Navigation (VLN) task tends to evolve from mere reachability to social compliance. However, current agents suffer from a "goal-driven trap",…

Vision-Language Models (VLMs) have shown remarkable progress in Vision-Language Navigation (VLN), offering new possibilities for navigation decision-making that could benefit both robotic platforms and human users. However, real-world…

Service and assistive robots are increasingly being deployed in dynamic social environments; however, ensuring transparent and explainable interactions remains a significant challenge. This paper presents a multimodal explainability module…

Navigating human-populated environments without causing discomfort is a critical capability for socially-aware agents. While rule-based approaches offer interpretability through predefined psychological principles, they often lack…

Autonomous exploration and object search in unknown indoor environments remain challenging for multi-robot systems (MRS). Traditional approaches often rely on greedy frontier assignment strategies with limited inter-robot coordination. In…

VLN has achieved remarkable progress by scaling data and model capacity. However, the assumption of a static environment breaks down in real-world indoor scenarios, where robots inevitably encounter dynamic pedestrians. Existing human-aware…