相关论文: Language-Enhanced Mobile Manipulation for Efficien…
To assist humans in open-world environments, robots must interpret ambiguous instructions to locate desired objects. Foundation model-based approaches excel at multimodal grounding, but they lack a principled mechanism for modeling…
Existing object-search approaches enable robots to search through free pathways, however, robots operating in unstructured human-centered environments frequently also have to manipulate the environment to their needs. In this work, we…
Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic information from language instructions to the partially observed…
Metaheuristic search methods have proven to be essential tools for tackling complex optimization challenges, but their full potential is often constrained by conventional algorithmic frameworks. In this paper, we introduce a novel approach…
Object search in large-scale, unstructured environments remains a fundamental challenge in robotics, particularly in dynamic or expansive settings such as outdoor autonomous exploration. This task requires robust spatial reasoning and the…
Searching for objects in indoor organized environments such as homes or offices is part of our everyday activities. When looking for a target object, we jointly reason about the rooms and containers the object is likely to be in; the same…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…
Finding an object of a specific class in an unseen environment remains an unsolved navigation problem. Hence, we propose a hierarchical learning-based method for object navigation. The top-level is capable of high-level planning, and…
In recent years, robots and autonomous systems have become increasingly integral to our daily lives, offering solutions to complex problems across various domains. Their application in search and rescue (SAR) operations, however, presents…
We present a hierarchical language-driven framework for robotic task and motion planning to improve natural, intuitive human-robot interaction in service and assistance scenarios. The proposed system employs two large language model (LLM)…
Heterogeneous multirobot systems show great potential in complex tasks requiring coordinated hybrid cooperation. However, existing methods that rely on static or task-specific models often lack generalizability across diverse tasks and…
Navigation in unfamiliar environments presents a major challenge for robots: while mapping and planning techniques can be used to build up a representation of the world, quickly discovering a path to a desired goal in unfamiliar settings…
Moving objects to find a fully-occluded target object, known as mechanical search, is a challenging problem in robotics. As objects are often organized semantically, we conjecture that semantic information about object relationships can…
While Large Language Models (LLMs) have recently shown promise in Automated Heuristic Design (AHD), existing approaches typically formulate AHD around constructive priority rules or parameterized local search guidance, thereby restricting…
Embeddings from Visual-Language Models are increasingly utilized to represent semantics in robotic maps, offering an open-vocabulary scene understanding that surpasses traditional, limited labels. Embeddings enable on-demand querying by…
To fully leverage the capabilities of mobile manipulation robots, it is imperative that they are able to autonomously execute long-horizon tasks in large unexplored environments. While large language models (LLMs) have shown emergent…
This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…
This paper addresses the high demand in advanced intelligent robot navigation for a more holistic understanding of spatial environments, by introducing a novel system that harnesses the capabilities of Large Language Models (LLMs) to…