相关论文: CogDDN: A Cognitive Demand-Driven Navigation with …
Deep reinforcement learning (DRL) has become a dominant deep-learning paradigm for tasks where complex policies are learned within reactive systems. Unfortunately, these policies are known to be susceptible to bugs. Despite significant…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Autonomous navigation capabilities play a critical role in service robots operating in environments where human interactions are pivotal, due to the dynamic and unpredictable nature of these environments. However, the variability in human…
Accurate crowd simulation is crucial for public safety management, emergency evacuation planning, and intelligent transportation systems. However, existing methods, which typically model crowds as a collection of independent individual…
Embodied artificial intelligence (AI) tasks shift from tasks focusing on internet images to active settings involving embodied agents that perceive and act within 3D environments. In this paper, we investigate the target-driven visual…
Embodied navigation requires robots to understand and interact with the environment based on given tasks. Vision-Language Navigation (VLN) is an embodied navigation task, where a robot navigates within a previously seen and unseen…
Recent studies have revealed the potential of training open-source Large Language Models (LLMs) to unleash LLMs' reasoning ability for enhancing vision-language navigation (VLN) performance, and simultaneously mitigate the domain gap…
Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…
Recent research efforts enable study for natural language grounded navigation in photo-realistic environments, e.g., following natural language instructions or dialog. However, existing methods tend to overfit training data in seen…
Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…
The increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particularly in accommodating diverse passenger needs and dynamic…
In recent years, graph neural networks have been successfully applied for learning the dynamics of complex and partially observable physical systems. However, their use in the robotics domain is, to date, still limited. In this paper, we…
Deep Learning (DL) has brought significant advances to robotics vision tasks. However, most existing DL methods have a major shortcoming, they rely on a static inference paradigm inherent in traditional computer vision pipelines. On the…
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…
Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…
Multi-robot navigation and path planning in continuous state and action spaces with uncertain environments remains an open challenge. Deep Reinforcement Learning (RL) is one of the most popular paradigms for solving this task, but its…
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…
Modern pedestrian dead reckoning (PDR) systems rely on fusing noisy and biased estimates of position, velocity, and calibrated orientation derived from loosely coupled sensors to determine the current pose of a localized object. However,…
UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over long horizons. Existing zero-shot methods remain limited, as…