相关论文: Scene Action Maps: Behavioural Maps for Navigation…

The ability to navigate like a human towards a language-guided target from anywhere in a 3D embodied environment is one of the 'holy grail' goals of intelligent robots. Most visual navigation benchmarks, however, focus on navigating toward…

Well-designed indoor scenes should prioritize how people can act within a space rather than merely what objects to place. However, existing 3D scene generation methods emphasize visual and semantic plausibility, while insufficiently…

Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…

Understanding scene contexts is crucial for machines to perform tasks and adapt prior knowledge in unseen or noisy 3D environments. As data-driven learning is intractable to comprehensively encapsulate diverse ranges of layouts and open…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated open-set object-goal navigation in indoor settings, but these…

Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…

We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on…

With the great achievement of artificial intelligence, vehicle technologies have advanced significantly from human centric driving towards fully automated driving. An intelligent vehicle should be able to understand the driver's perception…

Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

This work presents a modular and hierarchical approach to learn policies for exploring 3D environments, called `Active Neural SLAM'. Our approach leverages the strengths of both classical and learning-based methods, by using analytical path…

Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

In this paper, a Segment Anything Model (SAM)-based pedestrian infrastructure segmentation workflow is designed and optimized, which is capable of efficiently processing multi-sourced geospatial data including LiDAR data and satellite…

The world is filled with a wide variety of objects. For robots to be useful, they need the ability to find arbitrary objects described by people. In this paper, we present LeLaN(Learning Language-conditioned Navigation policy), a novel…

Accomplishing household tasks requires to plan step-by-step actions considering the consequences of previous actions. However, the state-of-the-art embodied agents often make mistakes in navigating the environment and interacting with…

Robots can rapidly acquire new skills from demonstrations. However, during generalisation of skills or transitioning across fundamentally different skills, it is unclear whether the robot has the necessary knowledge to perform the task.…

We present a system for creating building-scale, easily navigable 3D maps using mainstream smartphones. In our approach, we formulate the 3D-mapping problem as an instance of Graph SLAM and infer the position of both building landmarks…

We study open-world 3D scene understanding, a family of tasks that require agents to reason about their 3D environment with an open-set vocabulary and out-of-domain visual inputs - a critical skill for robots to operate in the unstructured…