1,377 research outputs found
Overcoming barriers and increasing independence: service robots for elderly and disabled people
This paper discusses the potential for service robots to overcome barriers and increase independence of
elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly
people and advances in technology which will make new uses possible and provides suggestions for some of these new
applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses
the complementarity of assistive service robots and personal assistance and considers the types of applications and
users for which service robots are and are not suitable
Multi-layered map based navigation and interaction for an intelligent wheelchair
Intelligent wheelchair is a paradigm of assisted living applications for elderly and disabled people. Its autonomous navigation and human-robot interaction is the major challenge. The previous intelligent wheelchair research has been mainly focused on geometric map based navigation, which is computational expensive in a large scale environment. This paper proposes the use of multi-layered maps for navigation and interaction of an intelligent wheelchair. The semantic information can improve the efficiency of path planning and navigation as well as extend the capability of task planning for the wheelchair. Some experimental results are given to demonstrate the feasibility and performance of the proposed approach
MO-VLN: A Multi-Task Benchmark for Open-set Zero-Shot Vision-and-Language Navigation
Given a natural language, a general robot has to comprehend the instruction
and find the target object or location based on visual observations even in
unexplored environments. Most agents rely on massive diverse training data to
achieve better generalization, which requires expensive labor. These agents
often focus on common objects and fewer tasks, thus are not intelligent enough
to handle different types of instructions. To facilitate research in open-set
vision-and-language navigation, we propose a benchmark named MO-VLN, aiming at
testing the effectiveness and generalization of the agent in the multi-task
setting. First, we develop a 3D simulator rendered by realistic scenarios using
Unreal Engine 5, containing more realistic lights and details. The simulator
contains three scenes, i.e., cafe, restaurant, and nursing house, of high value
in the industry. Besides, our simulator involves multiple uncommon objects,
such as takeaway cup and medical adhesive tape, which are more complicated
compared with existing environments. Inspired by the recent success of large
language models (e.g., ChatGPT, Vicuna), we construct diverse high-quality data
of instruction type without human annotation. Our benchmark MO-VLN provides
four tasks: 1) goal-conditioned navigation given a specific object category
(e.g., "fork"); 2) goal-conditioned navigation given simple instructions (e.g.,
"Search for and move towards a tennis ball"); 3) step-by-step instruction
following; 4) finding abstract object based on high-level instruction (e.g., "I
am thirsty").Comment: 18 page
Multimodal interface for an intelligent wheelchair
Tese de mestrado integrado. Engenharia InformĆ”tica e ComputaĆ§Ć£o. Universidade do Porto. Faculdade de Engenharia. 201
Conceptual spatial representations for indoor mobile robots
We present an approach for creating conceptual representations of human-made indoor environments using mobile
robots. The concepts refer to spatial and functional properties of typical indoor environments. Following ļ¬ndings
in cognitive psychology, our model is composed of layers representing maps at diļ¬erent levels of abstraction. The
complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.
The system also incorporates a linguistic framework that actively supports the map acquisition process, and which
is used for situated dialogue. Finally, we discuss the capabilities of the integrated system
Maps, agents and dialogue for exploring a virtual world
In previous years we have been involved in several projects in which users (or visitors) had to find their way in information-rich virtual environments. 'Information-rich' means that the users do not know beforehand what is available in the environment, where to go in the environment to find the information and, moreover, users or visitors do not necessarily know exactly what they are looking for. Information-rich means also that the information may change during time. A second visit to the same environment will require different behavior of the visitor in order for him or her to obtain similar information than was available during a previous visit. In this paper we report about two projects and discuss our attempts to generalize from the different approaches and application domains to obtain a library of methods and tools to design and implement intelligent agents that inhabit virtual environments and where the agents support the navigation of the user/visitor
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