6 accepted papers
This paper explores traversability estimation for robot navigation. A key bottleneck in traversability estimation lies in efficiently achieving reliable and robust predictions while accurately encoding both geometric and semantic information across diverse environments. We introduce Navigation via M…
Robotic navigation in human environments requires a spatio-temporal semantic representation that can reconcile open-vocabulary perception with long-term environmental changes. While foundation models provide strong zero-shot recognition, their predictions are intermittent and view-dependent, and nai…
This paper presents a novel approach for realtime 3D navigation in large-scale complex environments by introducing a hierarchical 3D visibility graph (V-graph) and an efficient path search method. The proposed algorithm addresses the computational challenges of V-graph construction and shortest path
Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is often challenging due to the diversity of scenes, large number of fine-grained objects, and complex free-form nature of
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its path when needed. To develop planners that are complete and
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and adjusting the global plan from sensor feedback. The main co…