相关论文: Word2Wave: Language Driven Mission Programming for…

Language-instructed active object localization is a critical challenge for robots, requiring efficient exploration of partially observable environments. However, state-of-the-art approaches either struggle to generalize beyond demonstration…

Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…

Natural language is the most intuitive medium for us to interact with other people when expressing commands and instructions. However, using language is seldom an easy task when humans need to express their intent towards robots, since most…

Historically lower-level tasks such as automatic speech recognition (ASR) and speaker identification are the main focus in the speech field. Interest has been growing in higher-level spoken language understanding (SLU) tasks recently, like…

Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within fixed free workspace, therefore struggling in environments lacking viable paths…

This paper describes a reflexive multilayered mission planner with a mounted energy efficient local path planner for Unmanned Underwater Vehicle's (UUV) navigation throughout the complex subsea volume in a time-variant semi-dynamic…

The deployment of unmanned aerial vehicle (UAV) swarm-assisted communication networks has become an increasingly vital approach for remediating coverage limitations in infrastructure-deficient environments, with especially pressing…

Underwater acoustic (UWA) communication plays a key role in the process of exploring and studying the ocean. In this paper, a modified non-stationary wideband channel model for UWA communication in shallow water scenarios is proposed. In…

The communication system is a critical part of the system design for the autonomous UAV. It has to address different considerations, including efficiency, reliability and mobility of the UAV. In addition, a multi-UAV system requires a…

Industrial robotics is characterized by sophisticated mechanical components and highly-developed real-time control algorithms. However, the efficient use of robotic systems is very much limited by existing proprietary programming methods.…

While multi-robot systems have been broadly researched and deployed, their success is built chiefly upon the dependency on network infrastructures, whether wired or wireless. Aiming at the first steps toward de-coupling the application of…

Natural language (NL) navigation for low-altitude unmanned aerial vehicles (UAVs) offers an intelligent and convenient solution for low-altitude aerial services by enabling an intuitive interface for non-expert operators. However, deploying…

Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…

Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…

Large Language Models (LLMs) have demonstrated remarkable capabilities on various tasks, while the further evolvement is limited to the lack of high-quality training data. In addition, traditional training approaches rely too much on…

Intelligent control of Unmanned Aerial Vehicles (UAVs) swarms has emerged as a critical research focus, and it typically requires the swarm to navigate effectively while avoiding obstacles and achieving continuous coverage over multiple…

The goal of this work is to detect new spoken terms defined by users. While most previous works address Keyword Spotting (KWS) as a closed-set classification problem, this limits their transferability to unseen terms. The ability to define…

Zero-shot open-vocabulary object navigation has progressed rapidly with the emergence of large Vision-Language Models (VLMs) and Large Language Models (LLMs), now widely used as high-level decision-makers instead of end-to-end policies.…

This study presents a novel environment-aware reinforcement learning (RL) framework designed to augment the operational capabilities of autonomous underwater vehicles (AUVs) in underwater environments. Departing from traditional RL…

As robots become increasingly capable, users will want to describe high-level missions and have robots infer the relevant details. Because pre-built maps are difficult to obtain in many realistic settings, accomplishing such missions will…