相关论文: Semantic Environment Atlas for Object-Goal Navigat…

Social navigation research is performed on a variety of robotic platforms, scenarios, and environments. Making comparisons between navigation algorithms is challenging because of the effort involved in building these systems and the…

Emerging object-based SLAM algorithms can build a graph representation of an environment comprising nodes for robot poses and object landmarks. However, while this map will contain static objects such as furniture or appliances, many…

The creation of a metric-semantic map, which encodes human-prior knowledge, represents a high-level abstraction of environments. However, constructing such a map poses challenges related to the fusion of multi-modal sensor data, the…

In the field of visual affordance learning, previous methods mainly used abundant images or videos that delineate human behavior patterns to identify action possibility regions for object manipulation, with a variety of applications in…

Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…

Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform tasks efficiently, they must build and maintain a semantic…

Visual object navigation using learning methods is one of the key tasks in mobile robotics. This paper introduces a new representation of a scene semantic map formed during the embodied agent interaction with the indoor environment. It is…

Object-goal navigation in open-vocabulary settings requires agents to locate novel objects in unseen environments, yet existing approaches suffer from opaque decision-making processes and low success rate on locating unseen objects. To…

Incorporating the physical environment is essential for a complete understanding of human behavior in unconstrained every-day tasks. This is especially important in ego-centric tasks where obtaining 3 dimensional information is both…

Animal navigation research posits that organisms build and maintain internal spatial representations, or maps, of their environment. We ask if machines -- specifically, artificial intelligence (AI) navigation agents -- also build implicit…

We study lifelong visual perception in an embodied setup, where we develop new models and compare various agents that navigate in buildings and occasionally request annotations which, in turn, are used to refine their visual perception…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Embodied navigation methods commonly operate in static environments with stationary objects. In this work, we present approaches for tackling navigation in dynamic scenarios with non-stationary targets. In an indoor environment, we assume…

Earth observation (EO) systems are essential for mapping, catastrophe monitoring, and resource management, but they have trouble processing and sending large amounts of EO data efficiently, especially for specialized applications like…

We present a scalable approach for learning open-world object-goal navigation (ObjectNav) -- the task of asking a virtual robot (agent) to find any instance of an object in an unexplored environment (e.g., "find a sink"). Our approach is…

Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…

Deep learning-based website fingerprinting has emerged as an effective technique for inferring the websites users visit. Although existing methods achieve strong performance on closed-world datasets, they often fail to generalize to…

Bridging the physical and digital world through interaction remains a core challenge in augmented reality (AR). Existing systems target single objects, limiting support for planning, comparison, and assembly tasks that depend on…