相关论文: Reflex-Based Open-Vocabulary Navigation without Pr…

Household environments are visually diverse. Embodied agents performing Vision-and-Language Navigation (VLN) in the wild must be able to handle this diversity, while also following arbitrary language instructions. Recently, Vision-Language…

Efficient target localization and autonomous navigation in complex environments are fundamental to real-world embodied applications. While recent advances in multimodal foundation models have enabled zero-shot object goal navigation,…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

We present a communication-free method for safe multi-robot coordination in complex environments such as forests with dense canopy cover, where GNSS is unavailable. Our approach relies on an onboard anisotropic 3D LiDAR sensor used for SLAM…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Zero-shot object navigation requires agents to locate unseen target objects in unfamiliar environments without prior maps or task-specific training which remains a significant challenge. Although recent advancements in vision-language…

Remarkable progress has been made in recent years in the fields of vision, language, and robotics. We now have vision models capable of recognizing objects based on language queries, navigation systems that can effectively control mobile…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret…

For long-duration operations in GPS-denied environments, accurate and repeatable waypoint navigation is an essential capability. While simultaneous localization and mapping (SLAM) works well for single-session operations, repeated,…

We present a system which grows and manages a network of remote viewpoints during the natural installation cycle for a newly installed camera network or a newly deployed robot fleet. No explicit notion of camera position or orientation is…

Humans are remarkable in their ability to navigate without metric information. We can read abstract 2D maps, such as floor-plans or hand-drawn sketches, and use them to navigate in unseen rich 3D environments, without requiring prior…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

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…

Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…

Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…

Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the…

Navigation is an essential capability for mobile robots. In this paper, we propose a generalized yet effective 3M (i.e., multi-robot, multi-scenario, and multi-stage) training framework. We optimize a mapless navigation policy with a robust…

Visual language navigation (VLN) is an embodied task demanding a wide range of skills encompassing understanding, perception, and planning. For such a multifaceted challenge, previous VLN methods totally rely on one model's own thinking to…

Large language models have given social robots the ability to autonomously engage in open-domain conversations. However, they are still missing a fundamental social skill: making use of the multiple modalities that carry social…