相关论文: Multimodal LLM Guided Exploration and Active Mappi…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

We present a novel LLM-informed model-based planning framework, and a novel prompt selection method, for object search in partially-known environments. Our approach uses an LLM to estimate statistics about the likelihood of finding the…

We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…

The ability of Language Models (LMs) to understand natural language makes them a powerful tool for parsing human instructions into task plans for autonomous robots. Unlike traditional planning methods that rely on domain-specific knowledge…

Large Language Models (LLMs) have demonstrated potential in Vision-and-Language Navigation (VLN) tasks, yet current applications face challenges. While LLMs excel in general conversation scenarios, they struggle with specialized navigation…

Bimanual robotic manipulation provides significant versatility, but also presents an inherent challenge due to the complexity involved in the spatial and temporal coordination between two hands. Existing works predominantly focus on…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit well-known weaknesses such as high computational load, failure…

Recent advances in Multimodal Large Language Models (MLLMs) have significantly improved 2D visual understanding, prompting interest in their application to complex 3D reasoning tasks. However, it remains unclear whether these models can…

Real-world decision-making tasks typically occur in complex and open environments, posing significant challenges to reinforcement learning (RL) agents' exploration efficiency and long-horizon planning capabilities. A promising approach is…

Robotic search of people in human-centered environments, including healthcare settings, is challenging as autonomous robots need to locate people without complete or any prior knowledge of their schedules, plans or locations. Furthermore,…

Object goal navigation is a fundamental task in embodied AI, where an agent is instructed to locate a target object in an unexplored environment. Traditional learning-based methods rely heavily on large-scale annotated data or require…

Efficient multi-agent 3D mapping is essential for robotic teams operating in unknown environments, but dense representations hinder real-time exchange over constrained communication links. In multi-agent Simultaneous Localization and…

Vision-and-Language Navigation (VLN) tasks require an agent to follow textual instructions to navigate through 3D environments. Traditional approaches use supervised learning methods, relying heavily on domain-specific datasets to train VLN…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

In this project, our goal is to determine how to leverage the world-knowledge of pretrained large language models for efficient and robust learning in multiagent decision making. We examine this in a taxi routing and assignment problem…

Indoor navigation remains a critical challenge for people with visual impairments. The current solutions mainly rely on infrastructure-based systems, which limit their ability to navigate safely in dynamic environments. We propose a novel…

Current reinforcement learning algorithms struggle in sparse and complex environments, most notably in long-horizon manipulation tasks entailing a plethora of different sequences. In this work, we propose the Intrinsically Guided…

In recent years, the field of indoor navigation has witnessed groundbreaking advancements through the integration of Large Language Models (LLMs). Traditional navigation approaches relying on pre-built maps or reinforcement learning exhibit…

We present LGX (Language-guided Exploration), a novel algorithm for Language-Driven Zero-Shot Object Goal Navigation (L-ZSON), where an embodied agent navigates to a uniquely described target object in a previously unseen environment. Our…