相关论文: Robotic Environmental State Recognition with Pre-T…

Service robots can help with many of our daily tasks, especially in those cases where it is inconvenient or unsafe for us to intervene: e.g., under extreme weather conditions or when social distance needs to be maintained. However, before…

Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set large language models (LLMs) learn during pretraining. Vision,…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…

Multi-robot exploration is a field which tackles the challenge of exploring a previously unknown environment with a number of robots. This is especially relevant for search and rescue operations where time is essential. Current state of the…

While today's robots are able to perform sophisticated tasks, they can only act on objects they have been trained to recognize. This is a severe limitation: any robot will inevitably see new objects in unconstrained settings, and thus will…

For robots to follow instructions from people, they must be able to connect the rich semantic information in human vocabulary, e.g. "can you get me the pink stuffed whale?" to their sensory observations and actions. This brings up a notably…

This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles. We utilize the large language model (GPT-3.5) and the…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

Autonomous robots must navigate reliably in unknown environments even under compromised exteroceptive perception, or perception failures. Such failures often occur when harsh environments lead to degraded sensing, or when the perception…

Text detection is frequently used in vision-based mobile robots when they need to interpret texts in their surroundings to perform a given task. For instance, delivery robots in multilingual cities need to be capable of doing multilingual…

The most common way for robots to handle environmental information is by using maps. At present, each kind of data is hosted on a separate map, which complicates planning because a robot attempting to perform a task needs to access and…

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…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…

A central problem in artificial intelligence is that of planning to maximize future reward under uncertainty in a partially observable environment. In this paper we propose and demonstrate a novel algorithm which accurately learns a model…

Dynamic environments require adaptive applications. One particular machine learning problem in dynamic environments is open world recognition. It characterizes a continuously changing domain where only some classes are seen in one batch of…

TalkWithMachines aims to enhance human-robot interaction by contributing to interpretable industrial robotic systems, especially for safety-critical applications. The presented paper investigates recent advancements in Large Language Models…