相关论文: Non-submodular Visual Attention for Robot Navigati…
Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained in…
An accurate detection and tracking of devices such as guiding catheters in live X-ray image acquisitions is an essential prerequisite for endovascular cardiac interventions. This information is leveraged for procedural guidance, e.g.,…
We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…
We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…
Visual Localization is an essential component in autonomous navigation. Existing approaches are either based on the visual structure from SLAM/SfM or the geometric structure from dense mapping. To take the advantages of both, in this work,…
We consider optimal route planning when the objective function is a general nonlinear and non-monotonic function. Such an objective models user behavior more accurately, for example, when a user is risk-averse, or the utility function needs…
Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…
PointGoal navigation in indoor environment is a fundamental task for personal robots to navigate to a specified point. Recent studies solved this PointGoal navigation task with near-perfect success rate in photo-realistically simulated…
Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
Safe visual navigation is critical for indoor mobile robots operating in cluttered environments. Existing benchmarks, however, often neglect collisions or are designed for outdoor scenarios, making them unsuitable for indoor visual…
Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…
For robots navigating in human-populated environments, safety and social compliance are equally critical, yet prior work has mostly emphasized safety. Socially compliant navigation that accounts for human comfort, social norms, and…
Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the time to process a single object) are applied that achieve…
Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety. In this work, we propose an effective and scalable…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…
In this paper, we study the vehicle routing problem with a finite time horizon. In this routing problem, the objective is to maximize the number of customer requests served within a finite time horizon. We present a novel routing network…
This paper introduces an efficient Vision-Language Model (VLM) pipeline specifically optimized for deployment on embedded devices, such as those used in robotics and autonomous driving. The pipeline significantly reduces the computational…