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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Personalized Instance-based Navigation Toward User-Specif...
Luca Barsellotti, Roberto Bigazzi, Marcella Cornia, Lorenzo Bara · 2024-10-24 · via cs.RO updates on arXiv.org

In the last years, the research interest in visual navigation towards objects in indoor environments has grown significantly. This growth can be attributed to the recent availability of large navigation datasets in photo-realistic simulated environments, like Gibson and Matterport3D. However, the navigation tasks supported by these datasets are often restricted to the objects present in the environment at acquisition time. Also, they fail to account for the realistic scenario in which the target object is a user-specific instance that can be easily confused with similar objects and may be found in multiple locations within the environment. To address these limitations, we propose a new task denominated Personalized Instance-based Navigation (PIN), in which an embodied agent is tasked with locating and reaching a specific personal object by distinguishing it among multiple instances of the same category. The task is accompanied by PInNED, a dedicated new dataset composed of photo-realistic scenes augmented with additional 3D objects. In each episode, the target object is presented to the agent using two modalities: a set of visual reference images on a neutral background and manually annotated textual descriptions. Through comprehensive evaluations and analyses, we showcase the challenges of the PIN task as well as the performance and shortcomings of currently available methods designed for object-driven navigation, considering modular and end-to-end agents.