相关论文: CausalNav: A Long-term Embodied Navigation System …

While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex long-horizon tasks. To address this gap, we propose…

Embodied navigation is a fundamental capability for robotic agents operating. Real-world deployment requires open vocabulary generalization and low training overhead, motivating zero-shot methods rather than task-specific RL training.…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

Maps have played an indispensable role in enabling safe and automated driving. Although there have been many advances on different fronts ranging from SLAM to semantics, building an actionable hierarchical semantic representation of urban…

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…

Recent advances in Large Language Models (LLMs) have helped facilitate exciting progress for robotic planning in real, open-world environments. 3D scene graphs (3DSGs) offer a promising environment representation for grounding such…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…

Recent advances in vision-language models have made zero-shot navigation feasible, enabling robots to follow natural language instructions without requiring labeling. However, existing methods that explicitly store language vectors in grid…

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…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies trained on expensive, embodiment-specific robot data. While…

The advent of generalist Large Language Models (LLMs) and Large Vision Models (VLMs) have streamlined the construction of semantically enriched maps that can enable robots to ground high-level reasoning and planning into their…

Rich semantic information extraction plays a vital role on next-generation intelligent vehicles. Currently there is great amount of research focusing on fundamental applications such as 6D pose detection, road scene semantic segmentation,…

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…

Existing 3D scene generation methods often struggle to model the complex logical dependencies and physical constraints between objects, limiting their ability to adapt to dynamic and realistic environments. We propose CausalStruct, a novel…