相关论文: Graph2Nav: 3D Object-Relation Graph Generation to …

Loop closure can effectively correct the accumulated error in robot localization, which plays a critical role in the long-term navigation of the robot. Traditional appearance-based methods rely on local features and are prone to failure in…

Research in scene graph generation has quickly gained traction in the past few years because of its potential to help in downstream tasks like visual question answering, image captioning, etc. Many interesting approaches have been proposed…

Embodied AI agents in large scenes often need to navigate to find objects. In this work, we study a naturally emerging variant of the object navigation task, hierarchical relational object navigation (HRON), where the goal is to find…

Autonomous systems need to localize and track surrounding objects in 3D space for safe motion planning. As a result, 3D multi-object tracking (MOT) plays a vital role in autonomous navigation. Most MOT methods use a tracking-by-detection…

We present DreamToNav, a novel autonomous robot framework that uses generative video models to enable intuitive, human-in-the-loop control. Instead of relying on rigid waypoint navigation, users provide natural language prompts (e.g.…

Creating 3D semantic reconstructions of environments is fundamental to many applications, especially when related to autonomous agent operation (e.g., goal-oriented navigation or object interaction and manipulation). Commonly, 3D semantic…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Learning from image-text data has demonstrated recent success for many recognition tasks, yet is currently limited to visual features or individual visual concepts such as objects. In this paper, we propose one of the first methods that…

Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long-horizon planning and semantic understanding. Recent…

Maps have played an indispensable role in enabling safe and automated driving. Although there have been many advances on different fronts ranging from SLAM to semantics, building an actionable hierarchical semantic representation of urban…

We present a framework for dynamic trajectory generation for autonomous navigation, which does not rely on HD maps as the underlying representation. High Definition (HD) maps have become a key component in most autonomous driving…

Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

In many real-world applications involving static environments, the spatial layout of objects remains consistent across instances. However, state-of-the-art object detection models often fail to leverage this spatial prior, resulting in…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. 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 comprehensive representation and understanding of the driving environment is crucial to improve the safety and reliability of autonomous vehicles. In this paper, we present a new approach to establish an environment model containing a…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

The significant progress on Generative Adversarial Networks (GANs) have made it possible to generate surprisingly realistic images for single object based on natural language descriptions. However, controlled generation of images for…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…