相关论文: ComposableNav: Instruction-Following Navigation in…
A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…
Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…
Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…
Autonomous navigation in offroad environments has been extensively studied in the robotics field. However, navigation in covert situations where an autonomous vehicle needs to remain hidden from outside observers remains an underexplored…
Machines are a long way from robustly solving open-world perception-control tasks, such as first-person view (FPV) aerial navigation. While recent advances in end-to-end Machine Learning, especially Imitation and Reinforcement Learning…
This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles. We utilize the large language model (GPT-3.5) and the…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
We present an imitation learning method for autonomous drone patrolling based only on raw videos. Different from previous methods, we propose to let the drone learn patrolling in the air by observing and imitating how a human navigator does…
We present CompoSuite, an open-source simulated robotic manipulation benchmark for compositional multi-task reinforcement learning (RL). Each CompoSuite task requires a particular robot arm to manipulate one individual object to achieve a…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…
We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability…
Visual Language Navigation is a task that challenges robots to navigate in realistic environments based on natural language instructions. While previous research has largely focused on static settings, real-world navigation must often…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
Existing autonomous robot navigation systems allow robots to move from one point to another in a collision-free manner. However, when facing new environments, these systems generally require re-tuning by expert roboticists with a good…
In Programming by Demonstration, the robot learns novel skills from human demonstrations. After learning, the robot should be able not only to reproduce the skill, but also to generalize it to shifted domains without collecting new training…
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…
Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…
Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…