相关论文: Bench-NPIN: Benchmarking Non-prehensile Interactiv…
Mobile robots are increasingly deployed in cluttered environments with movable objects, posing challenges for traditional methods that prohibit interaction. In such settings, the mobile robot must go beyond traditional obstacle avoidance,…
We present Interactive Gibson Benchmark, the first comprehensive benchmark for training and evaluating Interactive Navigation: robot navigation strategies where physical interaction with objects is allowed and even encouraged to accomplish…
This paper introduces a framework for interactive navigation through adaptive non-prehensile mobile manipulation. A key challenge in this process is handling objects with unknown dynamics, which are difficult to infer from visual…
Safe visual navigation is critical for indoor mobile robots operating in cluttered environments. Existing benchmarks, however, often neglect collisions or are designed for outdoor scenarios, making them unsuitable for indoor visual…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
We propose Question-Asking Navigation (QAsk-Nav), the first reproducible benchmark for Collaborative Instance Object Navigation (CoIN) that enables an explicit, separate assessment of embodied navigation and collaborative question asking.…
The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…
Robots moving safely and in a socially compliant manner in dynamic human environments is an essential benchmark for long-term robot autonomy. However, it is not feasible to learn and benchmark social navigation behaviors entirely in the…
As robotic navigation techniques in perception and planning advance, mobile robots increasingly venture into off-road environments involving complex traversability. However, selecting suitable planning methods remains a challenge due to…
A fundamental requirement for full autonomy in mobile robots is accurate navigation even in situations where satellite navigation or cameras are unavailable. In such practical situations, relying only on inertial sensors will result in…
The increasing demand for efficient last-mile delivery in smart logistics underscores the role of autonomous robots in enhancing operational efficiency and reducing costs. Traditional navigation methods, which depend on high-precision maps,…
Towards human-robot coexistence, socially aware navigation is significant for mobile robots. Yet existing studies on this area focus mainly on path efficiency and pedestrian collision avoidance, which are essential but represent only a…
This paper presents a task-oriented computational framework to enhance Visual-Inertial Navigation (VIN) in robots, addressing challenges such as limited time and energy resources. The framework strategically selects visual features using a…
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…
While there has been remarkable progress recently in the fields of manipulation and locomotion, mobile manipulation remains a long-standing challenge. Compared to locomotion or static manipulation, a mobile system must make a diverse range…
This paper describes and analyzes a reactive navigation framework for mobile robots in unknown environments. The approach does not rely on a global map and only considers the local occupancy in its robot-centered 3D grid structure. The…
The pursuit of general-purpose embodied agents is hindered by fragmented evaluation protocols that isolate navigation skills and fixate on specific robot morphologies, failing to reflect real-world scenarios where agents must orchestrate…
The human-robot interaction (HRI) community has developed many methods for robots to navigate safely and socially alongside humans. However, experimental procedures to evaluate these works are usually constructed on a per-method basis. Such…
A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation…
Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…