相关论文: Validating Navmesh using Geometry: Voxel-Based Ana…
Meshes are ubiquitous in visual computing and simulation, yet most existing machine learning techniques represent meshes only indirectly, e.g. as the level set of a scalar field or deformation of a template, or as a disordered triangle soup…
Real-time visibility determination in expansive or dynamically changing environments has long posed a significant challenge in computer graphics. Existing techniques are computationally expensive and often applied as a precomputation step…
Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions, explore the given environments, and reach the desired target locations. These step-by-step navigational instructions are crucial when the agent…
This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…
Vision-Language Navigation (VLN) is a core challenge in embodied AI, requiring agents to navigate real-world environments using natural language instructions. Current language model-based navigation systems operate on discrete topological…
Meshes are widely used in 3D computer vision and graphics, but their irregular topology poses challenges in applying them to existing neural network architectures. Recent advances in mesh neural networks turn to remeshing and push the…
Vision-and-language navigation (VLN) is a multimodal task where an agent follows natural language instructions and navigates in visual environments. Multiple setups have been proposed, and researchers apply new model architectures or…
This paper focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small…
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we propose Wild Visual Navigation (WVN), an…
Vision-language Navigation (VLN) requires an agent to understand visual observations and language instructions to navigate in unseen environments. Most existing approaches rely on static scene assumptions and struggle to generalize in…
Mesh repair is a long-standing challenge in computer graphics and related fields. Converting defective meshes into watertight manifold meshes can greatly benefit downstream applications such as geometric processing, simulation, fabrication,…
Photo-realistic free-viewpoint rendering of real-world scenes using classical computer graphics techniques is challenging, because it requires the difficult step of capturing detailed appearance and geometry models. Recent studies have…
What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…
Recent advancements in visual language models (VLMs) have notably enhanced their capabilities in handling complex Graphical User Interface (GUI) interaction tasks. Despite these improvements, current frameworks often struggle to generate…
In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit…
The graph-navigability problem concerns how one can find as short paths as possible between a pair of vertices, given an incomplete picture of a graph. We study the navigability of graphs where the vertices are tagged by a number (between 1…
Walking in a Virtual Environment is a bounded task. It is challenging for a subject to navigate a large virtual environment designed in a limited physical space. External hardware support may be required to achieve such an act in a concise…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…