相关论文: GAMap: Zero-Shot Object Goal Navigation with Multi…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Navigating efficiently to an object in an unexplored environment is a critical skill for general-purpose intelligent robots. Recent approaches to this object goal navigation problem have embraced a modular strategy, integrating classical…

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…

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…

To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle with visually defined parts, occlusions, and unseen objects.…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

Zero-shot object navigation (ZSON) requires robots to locate target objects in unseen environments without task-specific fine-tuning or pre-built maps, a capability crucial for service and household robotics. Existing methods perform well…

Object-goal navigation requires mobile robots to efficiently locate targets with visual and spatial information, yet existing methods struggle with generalization in unseen environments. Heuristic approaches with naive metrics fail in…

Cooperative visual semantic navigation is a foundational capability for aerial robot teams operating in unknown environments. However, achieving robust open-vocabulary object-goal navigation remains challenging due to the computational…

Although learning-based vision-and-language navigation (VLN) agents can learn spatial knowledge implicitly from large-scale training data, zero-shot VLN agents lack this process, relying primarily on local observations for navigation, which…

Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…

The goal of object navigation is to reach the expected objects according to visual information in the unseen environments. Previous works usually implement deep models to train an agent to predict actions in real-time. However, in the…

Object Goal Navigation (OGN) is a fundamental task for robots and AI, with key applications such as mobile robot image databases (MRID). In particular, mapless OGN is essential in scenarios involving unknown or dynamic environments. This…

In this paper, we propose a general framework for universal zero-shot goal-oriented navigation. Existing zero-shot methods build inference framework upon large language models (LLM) for specific tasks, which differs a lot in overall…

We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…

We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…

Object navigation in multi-floor environments presents a formidable challenge in robotics, requiring sophisticated spatial reasoning and adaptive exploration strategies. Traditional approaches have primarily focused on single-floor…

Object-goal navigation is a challenging task that requires guiding an agent to specific objects based on first-person visual observations. The ability of agent to comprehend its surroundings plays a crucial role in achieving successful…

Navigating toward specific objects in unknown environments without additional training, known as Zero-Shot object navigation, poses a significant challenge in the field of robotics, which demands high levels of auxiliary information and…

This paper investigates the zero-shot object goal visual navigation problem. In the object goal visual navigation task, the agent needs to locate navigation targets from its egocentric visual input. "Zero-shot" means that the target the…