言語からナビゲーション目標へ：RGB-D知覚を用いた移動ロボットの意味的ナビゲーションのための視覚言語アプローチ
From Language to Navigation Goals: A Vision-Language Approach for Semantic Navigation of Mobile Robots Using RGB-D Perception
自然言語の指示を解釈し、RGB-Dデータで対象物の位置を推定してナビゲーション目標を生成し、移動ロボットを目的地まで自律走行させるフレームワークを提案した。ROS 2ベースで、シミュレーションと実機で評価した。
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著者: Jose Martínez-Fajardo, Pablo Pueyo, Fernando Caballero, Luis Merino
分類: cs.RO, cs.AI
原文アブストラクト
Natural language interaction provides an intuitive way for non-expert users to communicate with robotic platforms. However, transforming user requests into executable navigation actions remains a challenging task, requiring the integration of language understanding, environment perception, and autonomous navigation. This work presents a language-driven navigation framework that enables mobile robots to interpret user requests in natural language to move the robot to a destination and autonomously navigate towards it. The framework is composed of modular ROS 2 components that cooperate to transform natural language instructions into navigation actions. Given a natural language request referring to a target in the environment (e.g., "go to the mail box"), the system identifies the referenced object, estimates its position using RGB-D data, and generates a navigation goal, which is then executed through the ROS 2 Nav2 navigation stack. The ROS 2-based implementation facilitates portability across different robotic platforms, requiring only the configuration of the corresponding topics and services. The system is evaluated in both simulation and real-world scenarios using a TurtleBot3 Waffle and a Unitree Go2 robot with a RealSense camera. Experimental results show that the framework successfully interprets both direct commands and contextual requests, generates meaningful natural-language feedback, and navigates towards the desired target. These results demonstrate the feasibility of combining semantic perception and autonomous navigation to provide an intuitive human-robot interaction paradigm. Code will be released as open source upon acceptance.
