OpenObject-NAV: Open-Vocabulary Object-Oriented Navigation Based on Dynamic Carrier-Relationship Scene Graph

In everyday life, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a result, it becomes challenging for a robot to efficiently navigate to a specific instance. To tackle this challenge, the robot must capture and update scene changes and plans continuously. However, current object navigation approaches primarily focus on semantic-level and lack the ability to dynamically update scene representation. This paper captures the relationships between frequently used objects and their static carriers. It constructs an open-vocabulary Carrier-Relationship Scene Graph (CRSG) and updates the carrying status during robot navigation to reflect the dynamic changes of the scene. Based on the CRSG, we further propose an instance navigation strategy that models the navigation process as a Markov Decision Process. At each step, decisions are informed by Large Language Model's commonsense knowledge and visual-language feature similarity. We designed a series of long-sequence navigation tasks for frequently used everyday items in the Habitat simulator. The results demonstrate that by updating the CRSG, the robot can efficiently navigate to moved targets. Additionally, we deployed our algorithm on a real robot and validated its practical effectiveness.

Auto-Encoder Optimized PAM IM/DD Transceivers for Amplified Fiber Links

We examine pulse amplitude modulation (PAM) for intensity modulation and direct detection systems. Using a straight-forward, mixed noise model, we optimize the constellations with an autoencoder-based neural network (NN), an improve required signal-to-noise ratio of 4 dB for amplified spontaneous emission (ASE)-limited PAM4 and PAM8, without increasing system complexity. Performance can also be improved in O-band wavelength division multiplexing system with semiconductor optical amplifier amplification and chromatic dispersion. We show via simulation that for such a system operating at 53 Gbaud, we can extend the reach of PAM4 by 10-25 km with an optimized constellation and a NN decoder. We present an experimental validation of 4 dB improvement of an ASE-limited PAM4 at 60 Gbaud using an optimized constellation and a NN decoder.