相关论文: SINGER: An Onboard Generalist Vision-Language Navi…
We present Semantic-Aware Guided Exploration, SAGE, a system for open-vocabulary exploration in unknown 3D indoor environments that preserves coverage-oriented behavior while allowing semantic cues to reprioritize frontier selection.…
Navigating in unseen environments is crucial for mobile robots. Enhancing them with the ability to follow instructions in natural language will further improve navigation efficiency in unseen cases. However, state-of-the-art (SOTA)…
The speaker-follower models have proven to be effective in vision-and-language navigation, where a speaker model is used to synthesize new instructions to augment the training data for a follower navigation model. However, in many of the…
Persons with visual impairments (PwVI) have difficulties understanding and navigating spaces around them. Current wayfinding technologies either focus solely on navigation or provide limited communication about the environment. Motivated by…
In everyday life, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a result, it becomes challenging for a robot to efficiently…
Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…
Visual speech recognition (VSR) aims to recognize the content of speech based on lip movements, without relying on the audio stream. Advances in deep learning and the availability of large audio-visual datasets have led to the development…
We need to trust robots that use often opaque AI methods. They need to explain themselves to us, and we need to trust their explanation. In this regard, explainability plays a critical role in trustworthy autonomous decision-making to…
Although quadcopters boast impressive traversal capabilities enabled by their omnidirectional maneuverability, the need for continuous pilot control in complex environments impedes their application in GNSS and telemetry-denied scenarios.…
The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models have resulted in semantically-informed object navigation…
Understanding and following natural language instructions while navigating through complex, real-world environments poses a significant challenge for general-purpose robots. These environments often include obstacles and pedestrians, making…
Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…
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 investigates how the performance of visual navigation policies trained in simulation compares to policies trained with real-world data. Performance degradation of simulator-trained policies is often significant when they are…
This paper addresses the problem of building a speech recognition system attuned to the control of unmanned aerial vehicles (UAVs). Even though UAVs are becoming widespread, the task of creating voice interfaces for them is largely…
In daily domestic settings, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a result, it becomes challenging for a robot to…
Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
High-fidelity multi-singer singing voice synthesis is challenging for neural vocoder due to the singing voice data shortage, limited singer generalization, and large computational cost. Existing open corpora could not meet requirements for…
Visual language navigation (VLN) is an embodied task demanding a wide range of skills encompassing understanding, perception, and planning. For such a multifaceted challenge, previous VLN methods totally rely on one model's own thinking to…