相关论文: Multi-Floor Zero-Shot Object Navigation Policy
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
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…
Indoor navigation remains a critical challenge for people with visual impairments. The current solutions mainly rely on infrastructure-based systems, which limit their ability to navigate safely in dynamic environments. We propose a novel…
Zero-Shot Object Goal Navigation (ZS-OGN) enables robots or agents to navigate toward objects of unseen categories without object-specific training. Traditional approaches often leverage categorical semantic information for navigation…
Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…
Zero-shot object navigation (ZSON) in unseen environments remains a challenging problem for household robots, requiring strong perceptual understanding and decision-making capabilities. While recent methods leverage metric maps and Large…
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…
Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…
Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…
Understanding how humans leverage semantic knowledge to navigate unfamiliar environments and decide where to explore next is pivotal for developing robots capable of human-like search behaviors. We introduce a zero-shot navigation approach,…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Multi-robot collision-free and deadlock-free navigation in cluttered environments with static and dynamic obstacles is a fundamental problem for many applications. We introduce MRNAV, a framework for planning and control to effectively…
The Zero-Shot Object Navigation (ZSON) task requires embodied agents to find a previously unseen object by navigating in unfamiliar environments. Such a goal-oriented exploration heavily relies on the ability to perceive, understand, and…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…
This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…
Robots operating in households must find objects on shelves, under tables, and in cupboards. In such environments, it is crucial to search efficiently at 3D scale while coping with limited field of view and the complexity of searching for…
In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…
Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To…
Visual Language Navigation (VLN) is one of the fundamental capabilities for embodied intelligence and a critical challenge that urgently needs to be addressed. However, existing methods are still unsatisfactory in terms of both success rate…