相关论文: OpenIN: Open-Vocabulary Instance-Oriented Navigati…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…

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),…

We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…

Interactive Object Grasping (IOG) is the task of identifying and grasping the desired object via human-robot natural language interaction. Current IOG systems assume that a human user initially specifies the target object's category (e.g.,…

Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…

Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

Robots often have to deal with the challenges of operating in dynamic and sometimes unpredictable environments. Although an occupancy map of the environment is sufficient for navigation of a mobile robot or manipulation tasks with a robotic…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…

Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…

Today's open vocabulary scene graph generation (OVSGG) extends traditional SGG by recognizing novel objects and relationships beyond predefined categories, leveraging the knowledge from pre-trained large-scale models. Most existing methods…

In order to develop robots that can effectively serve as versatile and capable home assistants, it is crucial for them to reliably perceive and interact with a wide variety of objects across diverse environments. To this end, we proposed…