7 accepted papers
We propose a new method for improving zero-shot ObjectNav that aims to utilize potentially available environmental percepts for navigational assistance. Our approach takes into account that the ground agent may have limited and sometimes obstructed view. Our formulation encourages Generative Communi
We present and tackle the problem of Embodied Question Answering (EQA) with Situational Queries (S-EQA) in a household environment. Unlike prior EQA work tackling simple queries that directly reference target objects and properties ("What is the color of the car?"), situational queries (such as "Is
We present a novel approach to automatically synthesize “wayfinding instructions” for an embodied robot agent. In contrast to prior approaches that are heavily reliant on human-annotated datasets designed exclusively for specific simulation platforms, our algorithm uses in-context learning to condit…
We present language-guided exploration (LGX), a novel algorithm for <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Language-Driven Zero-Shot Object Goal Navigation</i> (L-ZSON), where an embodied agent navigates to an <italic xmlns:mml="http://www.w
Humans are known to construct cognitive maps of their everyday surroundings using a variety of perceptual inputs. As such, when a human is asked for directions to a particular location, their wayfinding capability in converting this cognitive map into directional instructions is challenged. Owing to…
We present ProxEmo, a novel end-to-end emotion prediction algorithm for socially aware robot navigation among pedestrians. Our approach predicts the perceived emotions of a pedestrian from walking gaits, which is then used for emotion-guided navigation taking into account social and proxemic constra…
For an autonomous corridor following task where the environment is continuously changing, several forms of environmental noise prevent an automated feature extraction procedure from performing reliably. Moreover, in cases where pre-defined features are absent from the captured data, a well defined c…