相关论文: Robot Navigation Using Physically Grounded Vision-…
Legged robots can sense terrain through force interactions during locomotion, offering more reliable traversability estimates than remote sensing and serving as scouts for guiding wheeled rovers in challenging environments. However, even…
This paper introduces an innovative application of foundation models, enabling Unmanned Ground Vehicles (UGVs) equipped with an RGB-D camera to navigate to designated destinations based on human language instructions. Unlike learning-based…
Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…
Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the…
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,…
We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…
Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…
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…
Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…
Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…
Robots should exist anywhere humans do: indoors, outdoors, and even unmapped environments. In contrast, the focus of recent advancements in Object Goal Navigation(OGN) has targeted navigating in indoor environments by leveraging spatial and…
We present DyNaVLM, an end-to-end vision-language navigation framework using Vision-Language Models (VLM). In contrast to prior methods constrained by fixed angular or distance intervals, our system empowers agents to freely select…
Visual Navigation Models (VNMs) promise generalizable, robot navigation by learning from large-scale visual demonstrations. Despite growing real-world deployment, existing evaluations rely almost exclusively on success rate, whether the…
Path planning is a fundamental capability of autonomous Unmanned Aerial Vehicles (UAVs), enabling them to efficiently navigate toward a target region or explore complex environments while avoiding obstacles. Traditional pathplanning…
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…
Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…
Vision-Language Models (VLMs) have been increasingly integrated into object navigation tasks for their rich prior knowledge and strong reasoning abilities. However, applying VLMs to navigation poses two key challenges: effectively…
Navigational signs are common aids for human wayfinding and scene understanding, but are underutilized by robots. We argue that they benefit robot navigation and scene understanding, by directly encoding privileged information on actions,…
Deformable granular terrains introduce significant locomotion and immobilization risks in planetary exploration and are difficult to detect via remote sensing (e.g., vision). Legged robots can sense terrain properties through leg-terrain…
Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…