相关论文: Personalized Instance-based Navigation Toward User…
We consider the problem of embodied visual navigation given an image-goal (ImageNav) where an agent is initialized in an unfamiliar environment and tasked with navigating to a location 'described' by an image. Unlike related navigation…
Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform…
As a new embodied vision task, Instance ImageGoal Navigation (IIN) aims to navigate to a specified object depicted by a goal image in an unexplored environment. The main challenge of this task lies in identifying the target object from…
The task of Visual Object Navigation (VON) involves an agent's ability to locate a particular object within a given scene. In order to successfully accomplish the VON task, two essential conditions must be fulfilled:1) the user must know…
Can the intrinsic relation between an object and the room in which it is usually located help agents in the Visual Navigation Task? We study this question in the context of Object Navigation, a problem in which an agent has to reach an…
This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…
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…
Text-goal instance navigation (TGIN) asks an agent to resolve a single, free-form description into actions that reach the correct object instance among same-category distractors. We present \textit{Context-Nav}, which elevates long,…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Robots that assist humans in their daily lives should be able to locate specific instances of objects in an environment that match a user's desired objects. This task is known as instance-specific image goal navigation (InstanceImageNav),…
Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…
Language-driven instance object navigation assumes that human users initiate the task by providing a detailed description of the target instance to the embodied agent. While this description is crucial for distinguishing the target from…
Recent advances in Embodied AI have enabled agents to perform increasingly complex tasks and adapt to diverse environments. However, deploying such agents in realistic human-centered scenarios, such as domestic households, remains…
Visual object localization is the key step in a series of object detection tasks. In the literature, high localization accuracy is achieved with the mainstream strongly supervised frameworks. However, such methods require object-level…
We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized…
Object goal navigation (ObjectNav) in unseen environments is a fundamental task for Embodied AI. Agents in existing works learn ObjectNav policies based on 2D maps, scene graphs, or image sequences. Considering this task happens in 3D…
In daily domestic settings, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a result, it becomes challenging for a robot to…
Object-goal navigation (Object-nav) entails searching, recognizing and navigating to a target object. Object-nav has been extensively studied by the Embodied-AI community, but most solutions are often restricted to considering static…
The process of satisfying daily demands is a fundamental aspect of humans' daily lives. With the advancement of embodied AI, robots are increasingly capable of satisfying human demands. Demand-driven navigation (DDN) is a task in which an…
When searching for an object humans navigate through a scene using semantic information and spatial relationships. We look for an object using our knowledge of its attributes and relationships with other objects to infer the probable…