相关论文: TP-MDDN: Task-Preferenced Multi-Demand-Driven Navi…

Mobile robots are increasingly required to navigate and interact within unknown and unstructured environments to meet human demands. Demand-driven navigation (DDN) enables robots to identify and locate objects based on implicit human…

The process of satisfying daily demands is a fundamental aspect of humans' daily lives. With the advancement of embodied AI, robots are increasingly capable of satisfying human demands. Demand-driven navigation (DDN) is a task in which an…

Motion planning in dynamic urban environments requires balancing immediate safety with long-term goals. While diffusion models effectively capture multi-modal decision-making, existing approaches treat trajectories as monolithic entities,…

Existing Vision-Language Navigation (VLN) methods primarily focus on single-stage navigation, limiting their effectiveness in multi-stage and long-horizon tasks within complex and dynamic environments. To address these limitations, we…

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…

Deep reinforcement learning (DRL) finds extensive application in autonomous drone navigation within complex, high-risk environments. However, its practical deployment faces a safety-exploration dilemma: soft penalty mechanisms encourage…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environments. Of late, TMP for manipulation has attracted significant interest resulting in a proliferation of different approaches. In contrast,…

Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that…

Decision-making and motion planning constitute critical components for ensuring the safety and efficiency of autonomous vehicles (AVs). Existing methodologies typically adopt two paradigms: decision then planning or generation then scoring.…

Existing Vision-Language Navigation (VLN) methods typically adopt an egocentric, step-by-step paradigm, which struggles with error accumulation and limits efficiency. While recent approaches attempt to leverage pre-built environment maps,…

In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high…

Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…

This paper presents a hybrid online Partially Observable Markov Decision Process (POMDP) planning system that addresses the problem of autonomous navigation in the presence of multi-modal uncertainty introduced by other agents in the…

Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…

Autonomous agents are limited in their ability to observe the world state. Partially observable Markov decision processes (POMDPs) formally model the problem of planning under world state uncertainty, but POMDPs with continuous actions and…

Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…

Navigation is a fundamental capability for mobile robots. While the current trend is to use learning-based approaches to replace traditional geometry-based methods, existing end-to-end learning-based policies often struggle with 3D spatial…

The rise of large language models (LLMs) has made natural language-driven route planning an emerging research area that encompasses rich user objectives. Current research exhibits two distinct approaches: direct route planning using…

Autonomous driving systems require real-time environmental perception to ensure user safety and experience. Streaming perception is a task of reporting the current state of the world, which is used to evaluate the delay and accuracy of…

Trajectory planning is a core task in autonomous driving, requiring the prediction of safe and comfortable paths across diverse scenarios. Integrating Multi-modal Large Language Models (MLLMs) with Reinforcement Learning (RL) has shown…