5 papers · 1 filter
SignScene: Visual Sign Grounding for Mapless Navigation
Nicky Zimmerman, Joel Loo, Benjamin Koh +2
Navigational signs enable humans to navigate unfamiliar environments without maps. This work studies how robots can similarly exploit signs for mapless navigation in the open world…
InFeR: Informed Failure Resilience in Learned Visual Navigation Control
Zishuo Wang, Joel Loo, David Hsu
While imitation learning (IL) has enabled successful visual navigation in many common environments, IL policies are prone to unpredictable failures under out-of-distribution (OOD)…
Sign Language: Towards Sign Understanding for Robot Autonomy
Ayush Agrawal, Joel Loo, Nicky Zimmerman +1
Navigational signs are common aids for human wayfinding and scene understanding, but are underutilized by robots. We argue that they benefit robot navigation and scene understandin…
SignLoc: Robust Localization using Navigation Signs and Public Maps
Nicky Zimmerman, Joel Loo, Ayush Agrawal +1
Navigation signs and maps, such as floor plans and street maps, are widely available and serve as ubiquitous aids for way-finding in human environments. Yet, they are rarely used b…
Open Scene Graphs for Open-World Object-Goal Navigation
Joel Loo, Zhanxin Wu, David Hsu
How can we build general-purpose robot systems for open-world semantic navigation, e.g., searching a novel environment for a target object specified in natural language? To tackle…