相关论文: Bench-NPIN: Benchmarking Non-prehensile Interactiv…

Vision-and-Language Navigation (VLN) has been studied mainly in either discrete or continuous settings, with little attention to dynamic, crowded environments. We present HA-VLN 2.0, a unified benchmark introducing explicit social-awareness…

Accurate vessel trajectory prediction is crucial for navigational safety, route optimization, traffic management, search and rescue operations, and autonomous navigation. Traditional data-driven models lack real-world physical constraints,…

With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…

Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…

Developing universal Positioning, Navigation, and Timing (PNT) is our enduring goal. Today's complex environments demand PNT that is more resilient, energy-efficient and cognitively capable. This paper asks how we can endow unmanned systems…

This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…

Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…

With the advent of consumer-grade products for presenting an immersive virtual environment (VE), there is a growing interest in utilizing VEs for testing human navigation behavior. However, preparing a VE still requires a high level of…

We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…

Navigation is crucial for animal behavior and is assumed to require an internal representation of the external environment, termed a cognitive map. The precise form of this representation is often considered to be a metric representation of…

Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…

This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…

We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major robot vision and learning challenge is how to exactly achieve…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

Modern robots vary significantly in shape, size, and sensor configurations used to perceive and interact with their environments. However, most navigation policies are embodiment-specific--a policy trained on one robot typically fails to…

In this letter, we present a robust, real-time, inertial navigation system (INS)-Centric GNSS-Visual-Inertial navigation system (IC-GVINS) for wheeled robot, in which the precise INS is fully utilized in both the state estimation and visual…

Safe autonomous navigation is an essential and challenging problem for robots operating in highly unstructured or completely unknown environments. Under these conditions, not only robotic systems must deal with limited localisation…

A long-term accurate and robust localization system is essential for mobile robots to operate efficiently outdoors. Recent studies have shown the significant advantages of the wheel-mounted inertial measurement unit (Wheel-IMU)-based dead…

Rapid advances in multimodal models demand benchmarks that rigorously evaluate understanding and reasoning in safety-critical, dynamic real-world settings. We present AccidentBench, a large-scale benchmark that combines vehicle accident…