6 papers · 1 filter
SemNav: A Model-Based Planner for Zero-Shot Object Goal Navigation Using Vision-Foundation Models
Arnab Debnath, Gregory J. Stein, Jana Kosecka
Object goal navigation is a fundamental task in embodied AI, where an agent is instructed to locate a target object in an unexplored environment. Traditional learning-based methods…
A Hybrid Approach to Indoor Social Navigation: Integrating Reactive Local Planning and Proactive Global Planning
Arnab Debnath, Gregory J. Stein, Jana Kosecka
We consider the problem of indoor building-scale social navigation, where the robot must reach a point goal as quickly as possible without colliding with humans who are freely movi…
Anticipatory Planning for Performant Long-Lived Robot in Large-Scale Home-Like Environments
Md Ridwan Hossain Talukder, Raihan Islam Arnob, Gregory J. Stein
We consider the setting where a robot must complete a sequence of tasks in a persistent large-scale environment, given one at a time. Existing task planners often operate myopicall…
Anticipatory Task and Motion Planning
Roshan Dhakal, Duc M. Nguyen, Tom Silver +2
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persis…
Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks
Roshan Dhakal, Md Ridwan Hossain Talukder, Gregory J. Stein
We consider a service robot in a household environment given a sequence of high-level tasks one at a time. Most existing task planners, lacking knowledge of what they may be asked…
Learning Augmented, Multi-Robot Long-Horizon Navigation in Partially Mapped Environments
Abhish Khanal, Gregory J. Stein
We present a novel approach for efficient and reliable goal-directed long-horizon navigation for a multi-robot team in a structured, unknown environment by predicting statistics of…