8 papers
ReVNM: Learning-Based Visual Navigation from a Remote Camera
Michikuni Eguchi, Kohei Honda, Masafumi Endo +2
Visual Navigation Models (VNMs) enable robots to navigate from egocentric visual observations without geometric localization and planning, but long-range navigation still requires…
Commonsense-Grounded Path Planning from Abstract Instructions
Masafumi Endo, Kohei Honda, Ryo Yonetani
We present \emph{commonsense ranked search} (CoRS), a novel path planner that turns an abstract instruction into a route that follows commonsense. While existing methods respect th…
Orienteering Problem with Uncertain Time-Varying Rewards: Framework and Benchmark for Everyday Service Robotics
Masafumi Endo, Kohei Honda, Yuu Jinnai +1
We present the orienteering problem with uncertain time-varying rewards (OP-UTVR), a novel variant of the orienteering problem (OP). While most existing OP formulations assume rewa…
VLG-Loc: Vision-Language Global Localization from Labeled Footprint Maps
Mizuho Aoki, Kohei Honda, Yasuhiro Yoshimura +2
This paper presents Vision-Language Global Localization (VLG-Loc), a novel global localization method that uses human-readable labeled footprint maps containing only names and area…
Piggyback Camera: Easy-to-Deploy Visual Surveillance by Mobile Sensing on Commercial Robot Vacuums
Ryo Yonetani
This paper presents Piggyback Camera, an easy-to-deploy system for visual surveillance using commercial robot vacuums. Rather than requiring access to internal robot systems, our a…
GSplatVNM: Point-of-View Synthesis for Visual Navigation Models Using Gaussian Splatting
Kohei Honda, Takeshi Ishita, Yasuhiro Yoshimura +1
This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. V…
Path Planning using Instruction-Guided Probabilistic Roadmaps
Jiaqi Bao, Ryo Yonetani
This work presents a novel data-driven path planning algorithm named Instruction-Guided Probabilistic Roadmap (IG-PRM). Despite the recent development and widespread use of mobile…
Opt-in Camera: Person Identification in Video via UWB Localization and Its Application to Opt-in Systems
Matthew Ishige, Yasuhiro Yoshimura, Ryo Yonetani
This paper presents opt-in camera, a concept of privacy-preserving camera systems capable of recording only specific individuals in a crowd who explicitly consent to be recorded. O…