相关论文: Context-Aware Replanning with Pre-explored Semanti…

When humans perform everyday tasks, we naturally adjust our actions based on the current state of the environment. For instance, if we intend to put something into a drawer but notice it is closed, we open it first. However, many autonomous…

Grounding natural language instructions to visual observations is fundamental for embodied agents operating in open-world environments. Recent advances in visual-language mapping have enabled generalizable semantic representations by…

Minimising the discomfort caused by robots when navigating in social situations is crucial for them to be accepted. The paper presents a machine learning-based framework that bootstraps existing one-dimensional datasets to generate a cost…

Medical image restoration is essential for improving the usability of noisy, incomplete, and artifact-corrupted clinical scans, yet existing methods often rely on task-specific retraining and offer limited control over the trade-off between…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

Current exploration methods struggle to search for shops or restaurants in unknown open-world environments due to the lack of prior knowledge. Humans can leverage venue maps that offer valuable scene priors to aid exploration planning by…

Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…

Embodied visual navigation remains a challenging task, as agents must explore unknown environments with limited knowledge. Existing zero-shot studies have shown that incorporating memory mechanisms to support goal-directed behavior can…

Pre-trained vision-language-action (VLA) models offer a promising foundation for generalist robot policies, but often produce brittle behaviors or unsafe failures when deployed zero-shot in out-of-distribution scenarios. We present…

This paper focuses on visual semantic navigation, the task of producing actions for an active agent to navigate to a specified target object category in an unknown environment. To complete this task, the algorithm should simultaneously…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

Autonomous mobile robots deployed in urban environments must be context-aware, i.e., able to distinguish between different semantic entities, and robust to occlusions. Current approaches like semantic scene completion (SSC) require…

Robots in human-centered environments require accurate scene understanding to perform high-level tasks effectively. This understanding can be achieved through instance-aware semantic mapping, which involves reconstructing elements at the…

In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…

Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a probabilistic planning framework that…

We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using non-locally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about…

Context-aware emotion recognition (CAER) is a complex and significant task that requires perceiving emotions from various contextual cues. Previous approaches primarily focus on designing sophisticated architectures to extract emotional…

Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…

As a critical task for large-scale commercial recommender systems, reranking has shown the potential of improving recommendation results by uncovering mutual influence among items. Reranking rearranges items in the initial ranking lists…

This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…