相关论文: Intelligent LiDAR Navigation: Leveraging External …

Autonomous language-guided navigation in large-scale outdoor environments remains a key challenge in mobile robotics, due to difficulties in semantic reasoning, dynamic conditions, and long-term stability. We propose CausalNav, the first…

LiDAR-to-OpenStreetMap (OSM) localization has gained increasing attention, as OSM provides lightweight global priors such as building footprints. These priors enhance global consistency for robot navigation, but OSM is often incomplete or…

The rapid advancement of multimodal large language models (LLMs) has opened new frontiers in artificial intelligence, enabling the integration of diverse large-scale data types such as text, images, and spatial information. In this paper,…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Achieving full automation in self-driving vehicles remains a challenge, especially in dynamic urban environments where navigation requires real-time adaptability. Existing systems struggle to handle navigation plans when faced with…

In public spaces shared with humans, ensuring multi-robot systems navigate without collisions while respecting social norms is challenging, particularly with limited communication. Although current robot social navigation techniques…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

In recent years, prior maps have become a mainstream tool in autonomous navigation. However, commonly available prior maps are still tailored to control-and-decision tasks, and the use of these maps for localization remains largely…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the robot to infer the intended task and how to decompose it into…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

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…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

This paper introduces an Online Localisation and Colored Mesh Reconstruction (OLCMR) ROS perception architecture for ground exploration robots aiming to perform robust Simultaneous Localisation And Mapping (SLAM) in challenging unknown…

Accurate geospatial information is crucial for safe, autonomous Inland Waterway Transport (IWT), as existing charts (IENC) lack real-time detail and conventional LiDAR SLAM fails in waterway environments. These challenges lead to vertical…

Autonomous driving has the potential to set the stage for more efficient future mobility, requiring the research domain to establish trust through safe, reliable and transparent driving. Large Language Models (LLMs) possess reasoning…

Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation.…