相关论文: Hey Robot! Personalizing Robot Navigation through …
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
Social navigation in densely populated dynamic environments poses a significant challenge for autonomous mobile robots, requiring advanced strategies for safe interaction. Existing reinforcement learning (RL)-based methods require over…
Training visual control policies from scratch on a new robot typically requires generating large amounts of robot-specific data. How might we leverage data previously collected on another robot to reduce or even completely remove this need…
In this paper, we investigate the utility of head-mounted display (HMD) interfaces for navigation of mobile robots. We focus on the selection of waypoint positions for the robot, whilst maintaining an egocentric view of the robot's…
Following human instructions to explore and search for a specified target in an unfamiliar environment is a crucial skill for mobile service robots. Most of the previous works on object goal navigation have typically focused on a single…
This paper brings together the concepts of navigation transformation and harmonic functions to form navigation functions that are correct-by-construction in the sense that no tuning is required. The form of the navigation function is…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…
Off-road traversability segmentation enables autonomous navigation with applications in search-and-rescue, military operations, wildlife exploration, and agriculture. Current frameworks struggle due to significant variations in unstructured…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Object navigation is crucial for robots, but traditional methods require substantial training data and cannot be generalized to unknown environments. Zero-shot object navigation (ZSON) aims to address this challenge, allowing robots to…
In the realm of household robotics, the Zero-Shot Object Navigation (ZSON) task empowers agents to adeptly traverse unfamiliar environments and locate objects from novel categories without prior explicit training. This paper introduces…
Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…
In this study, we develop a simple daily assistive robot that controls its own vision according to linguistic instructions. The robot performs several daily tasks such as recording a user's face, hands, or screen, and remotely capturing…
Imitation learning is a popular approach for teaching motor skills to robots. However, most approaches focus on extracting policy parameters from execution traces alone (i.e., motion trajectories and perceptual data). No adequate…