相关论文: Human-like Navigation in a World Built for Humans

Embodied agents often struggle with efficient navigation because they rely primarily on partial egocentric observations, which restrict global foresight and lead to inefficient exploration. In contrast, humans plan using maps: we reason…

Human-robot collaboration, in which the robot intelligently assists the human with the upcoming task, is an appealing objective. To achieve this goal, the agent needs to be equipped with a fundamental collaborative navigation ability, where…

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…

Semantic reasoning and dynamic planning capabilities are crucial for an autonomous agent to perform complex navigation tasks in unknown environments. It requires a large amount of common-sense knowledge, that humans possess, to succeed in…

Robots should exist anywhere humans do: indoors, outdoors, and even unmapped environments. In contrast, the focus of recent advancements in Object Goal Navigation(OGN) has targeted navigating in indoor environments by leveraging spatial and…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

Navigating towards fully open language goals and exploring open scenes in an intelligent way have always raised significant challenges. Recently, Vision Language Models (VLMs) have demonstrated remarkable capabilities to reason with both…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

Large Vision-Language Models (VLMs) have demonstrated potential in enhancing mobile robot navigation in human-centric environments by understanding contextual cues, human intentions, and social dynamics while exhibiting reasoning…

Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs for planning often leads to unpredictable and unsafe…

Vision-and-Language Navigation (VLN) presents a complex challenge in embodied AI, requiring agents to interpret natural language instructions and navigate through visually rich, unfamiliar environments. Recent advances in large…

Navigational signs are common aids for human wayfinding and scene understanding, but are underutilized by robots. We argue that they benefit robot navigation and scene understanding, by directly encoding privileged information on actions,…

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…

Reliable navigation systems have a wide range of applications in robotics and autonomous driving. Current approaches employ an open-loop process that converts sensor inputs directly into actions. However, these open-loop schemes are…

Goal-conditioned policies for robotic navigation can be trained on large, unannotated datasets, providing for good generalization to real-world settings. However, particularly in vision-based settings where specifying goals requires an…

Vision-Language Models (VLMs) have shown remarkable progress in Vision-Language Navigation (VLN), offering new possibilities for navigation decision-making that could benefit both robotic platforms and human users. However, real-world…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…