相关论文: Grid2Guide: A* Enabled Small Language Model for In…

Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…

Navigating complex, densely packed environments like retail stores, warehouses, and hospitals poses a significant spatial grounding challenge for humans and embodied AI. In these spaces, dense visual features quickly become stale given the…

Large Language Models (LLMs) have emerged as promising agents for web navigation tasks, interpreting objectives and interacting with web pages. However, the efficiency of spliced prompts for such tasks remains underexplored. We introduces…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

In human learning, an effective learning methodology is small-group learning: a small group of students work together towards the same learning objective, where they express their understanding of a topic to their peers, compare their…

Reliable navigation systems are not available indoors, such as in campuses and small areas. Users must depend on confusing, time-consuming static signage or floor maps. In this paper, an AR-based technique has been applied to campus and…

This paper presents a Sim2Real (Simulation to Reality) approach to bridge the gap between a trained agent in a simulated environment and its real-world implementation in navigating a robot in a similar setting. Specifically, we focus on…

Safety verification for autonomous vehicles (AVs) and ground robots is crucial for ensuring reliable operation given their uncertain environments. Formal language tools provide a robust and sound method to verify safety rules for such…

Given a map description through global traversal navigation instructions (e.g., visiting each room sequentially with action signals such as north, west, etc.), an LLM can often infer the implicit spatial layout of the environment and answer…

Enabling robotic assistants to navigate complex environments and locate objects described in free-form language is a critical capability for real-world deployment. While foundation models, particularly Vision-Language Models (VLMs), offer…

Congestion control is a fundamental component of Internet infrastructure, and researchers have dedicated considerable effort to developing improved congestion control algorithms. However, despite extensive study, existing algorithms…

This work explores the capacity of large language models (LLMs) to address problems at the intersection of spatial planning and natural language interfaces for navigation. We focus on following complex instructions that are more akin to…

In this work, we propose a modular approach for the Vision-Language Navigation (VLN) task by decomposing the problem into four sub-modules that use state-of-the-art Large Language Models (LLMs) and Vision-Language Models (VLMs) in a…

This paper introduces a novel approach to urban pathfinding by transforming traditional heuristic-based algorithms into deep learning models that leverage real-time contextual data, such as traffic and weather conditions. We propose two…

This work explores the challenges of creating a scalable and robust robot navigation system that can traverse both indoor and outdoor environments to reach distant goals. We propose a navigation system architecture called IntentionNet that…

Travel behavior prediction is a core problem in transportation demand management and is traditionally addressed using numerical models calibrated on observed data. With recent advances in large language models (LLMs), new opportunities have…

Despite significant recent progress in the field of autonomous driving, modern methods still struggle and can incur serious accidents when encountering long-tail unforeseen events and challenging urban scenarios. On the one hand, large…

Deep reinforcement learning (DRL) allows a system to interact with its environment and take actions by training an efficient policy that maximizes self-defined rewards. In autonomous driving, it can be used as a strategy for high-level…

Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Language Models (VLMs). We introduce a novel exploration pipeline…

Integrating large language models (LLMs) in autonomous vehicles enables conversation with AI systems to drive the vehicle. However, it also emphasizes the requirement for such systems to comprehend commands accurately and achieve…