The use of simulators in robotics research is widespread, underpinning the majority of recent
advances in the field. There are now more options available to researchers than ever before …

As mobile robots are increasingly introduced into our daily lives, it grows ever more
imperative that these robots navigate with and among people in a safe and socially …

Large language models (LLMs) have unlocked new capabilities of task planning from
human instructions. However, prior attempts to apply LLMs to real-world robotic tasks are …

This paper studies the problem of image-goal navigation which involves navigating to the
location indicated by a goal image in a novel previously unseen environment. To tackle this …

We present iGibson 1.0, a novel simulation environment to develop robotic solutions for
interactive tasks in large-scale realistic scenes. Our environment contains 15 fully interactive …

Recently, numerous algorithms have been developed to tackle the problem of vision-
language navigation (VLN), ie, entailing an agent to navigate 3D environments through …

Target-driven visual navigation aims at navigating an agent towards a given target based on
the observation of the agent. In this task, it is critical to learn informative visual representation …

Conventional approaches to vision-and-language navigation (VLN) are trained end-to-end
but struggle to perform well in freely traversable environments. Inspired by the robotics …

Abstract Model-based control is a popular paradigm for robot navigation because it can
leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is …

Abstract We propose Continuous Scene Representations (CSR), a scene representation
constructed by an embodied agent navigating within a space, where objects and their …