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This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles.
A formal basis for the heuristic determination of minimum cost paths
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Richard Hartley and Andrew Zisserman · 2004
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Design and use paradigms for gazebo, an open-source multi-robot simulator
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Sampling-based path planning on configuration-space costmaps
Léonard Jaillet, Juan Cortés, and Thierry Siméon · 2010
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Planning human-aware motions using a sampling-based costmap planner
Jim Mainprice, E. Akin Sisbot, Léonard Jaillet, Juan Cortés, Rachid Alami, and Thierry Siméon · 2011
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Real-time hand gestures system for mobile robots control
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Followme: Person following and gesture recognition with a quadrocopter
Tayyab Naseer, Jürgen Sturm, and Daniel Cremers · 2013
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Layered costmaps for context-sensitive navigation
David V Lu, Dave Hershberger, and William D Smart · 2014
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Time dependent planning on a layered social cost map for human-aware robot navigation
Marina Kollmitz, Kaijen Hsiao, Johannes Gaa, and Wolfram Burgard · 2015
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Including human factors for planning comfortable paths
Yoichi Morales, Atsushi Watanabe, Florent Ferreri, Jani Even, Tetsushi Ikeda, Kazuhiro Shinozawa, Takahiro Miyashita, and Norihiro Hagita · 2015
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Robots learning how and where to approach people
Omar A. Islas Ramírez, Harmish Khambhaita, Raja Chatila, Mohamed Chetouani, and Rachid Alami · 2016
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Real-time loop closure in 2d lidar slam
Wolfgang Hess, Damon Kohler, Holger Rapp, and Daniel Andor · 2016
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Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments
Peter Anderson, Qi Wu, Damien Teney, Jake Bruce, Mark Johnson, Niko Sünderhauf, Ian Reid, Stephen Gould, and Anton Van Den Hengel · 2018
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Obstacle avoidance through gesture recognition: Business advancement potential in robot navigation socio-technology
Xuan Liu, Kashif Nazar Khan, Qamar Farooq, Yunhong Hao, and Muhammad Shoaib Arshad · 2019
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A vr system for immersive teleoperation and live exploration with a mobile robot
Patrick Stotko, Stefan Krumpen, Max Schwarz, Christian Lenz, Sven Behnke, Reinhard Klein, and Michael Weinmann · 2019
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Safe navigation with human instructions in complex scenes
Zhe Hu, Jia Pan, Tingxiang Fan, Ruigang Yang, and Dinesh Manocha · 2019
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Safe robot navigation via multi-modal anomaly detection
Lorenz Wellhausen, René Ranftl, and Marco Hutter · 2020
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Chain-of-thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Fei Xia, Ed Chi, Quoc V Le, Denny Zhou, et al · 2022
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Wayfast: Navigation with predictive traversability in the field
Mateus V Gasparino, Arun N Sivakumar, Yixiao Liu, Andres EB Velasquez, Vitor AH Higuti, John Rogers, Huy Tran, and Girish Chowdhary · 2022
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Learning to prompt for open-vocabulary object detection with vision-language model
Yu Du, Fangyun Wei, Zihe Zhang, Miaojing Shi, Yue Gao, and Guoqi Li · 2022
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Grounded language-image pre-training
Liunian Harold Li, Pengchuan Zhang, Haotian Zhang, Jianwei Yang, Chunyuan Li, Yiwu Zhong, Lijuan Wang, Lu Yuan, Lei Zhang, Jenq-Neng Hwang, et al · 2022
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legged_control
Qiayuan Liao and Shang Yangxing · 2022
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Lm-nav: Robotic navigation with large pre-trained models of language, vision, and action
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Language models are few-shot learners
Tom Brown, Benjamin Mann, Nick Ryder, Melanie Subbiah, Jared D Kaplan, Prafulla Dhariwal, Arvind Neelakantan, Pranav Shyam, Girish Sastry, Amanda Askell, et al · 2020
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Pix2seq: A language modeling framework for object detection
Ting Chen, Saurabh Saxena, Lala Li, David J Fleet, and Geoffrey Hinton · 2021
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Safe robot navigation in a crowd combining nmpc and control barrier functions
Veronica Vulcano, Spyridon G Tarantos, Paolo Ferrari, and Giuseppe Oriolo · 2022
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Ga-nav: Efficient terrain segmentation for robot navigation in unstructured outdoor environments
Tianrui Guan, Divya Kothandaraman, Rohan Chandra, Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, and Dinesh Manocha · 2022
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Levels of automation for a mobile robot teleoperated by a caregiver
Samuel A Olatunji, Andre Potenza, Andrey Kiselev, Tal Oron-Gilad, Amy Loutfi, and Yael Edan · 2022
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Galactica: A large language model for science
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Training compute-optimal large language models
Jordan Hoffmann, Sebastian Borgeaud, Arthur Mensch, Elena Buchatskaya, Trevor Cai, Eliza Rutherford, Diego de Las Casas, Lisa Anne Hendricks, Johannes Welbl, Aidan Clark, et al · 2022
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Dhruv Shah, Błażej Osiński, Sergey Levine, et al · 2023
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Vint: A foundation model for visual navigation
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Visual language maps for robot navigation
Chenguang Huang, Oier Mees, Andy Zeng, and Wolfram Burgard · 2023
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a 2 a^{2} nav: Action-aware zero-shot robot navigation by exploiting vision-and-language ability of foundation models, 2023
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Grounding dino: Marrying dino with grounded pre-training for open-set object detection
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Model-free large-scale cloth spreading with mobile manipulation: Initial feasibility study
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