Related papers: Embodied Vision-and-Language Navigation with Dynam…
Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. At each navigation step, the agent selects from possible candidate locations and then…
Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…
Following a navigation instruction such as 'Walk down the stairs and stop at the brown sofa' requires embodied AI agents to ground scene elements referenced via language (e.g. 'stairs') to visual content in the environment (pixels…
Recent work in Vision-and-Language Navigation (VLN) has presented two environmental paradigms with differing realism -- the standard VLN setting built on topological environments where navigation is abstracted away, and the VLN-CE setting…
Vision-Language Navigation (VLN) aims to empower robots with the ability to perform long-horizon navigation in unfamiliar environments based on complex linguistic instructions. Its success critically hinges on establishing an efficient…
Embodied intelligence systems, which enhance agent capabilities through continuous environment interactions, have garnered significant attention from both academia and industry. Vision-Language-Action models, inspired by advancements in…
Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…
Instruction-following agents must ground language into their observation and action spaces. Learning to ground language is challenging, typically requiring domain-specific engineering or large quantities of human interaction data. To…
We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…
Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…
Vision-and-language navigation (VLN) aims to enable embodied agents to navigate in realistic environments using natural language instructions. Given the scarcity of domain-specific training data and the high diversity of image and language…
Recent advancements in Vision-Language-Action (VLA) models have leveraged pre-trained Vision-Language Models (VLMs) to improve the generalization capabilities. VLMs, typically pre-trained on vision-language understanding tasks, provide rich…
In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…
Vision-and-Language Navigation (VLN) tasks agents with locating specific objects in unseen environments using natural language instructions and visual cues. Many existing VLN approaches typically follow an 'observe-and-reason' schema, that…
Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…
Aerial Vision-and-Language Navigation (VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and navigate complex urban environments using onboard visual observation. This task holds promise for…
Vision-and-Language Navigation (VLN) requires grounding instructions, such as "turn right and stop at the door", to routes in a visual environment. The actual grounding can connect language to the environment through multiple modalities,…
Recent research efforts enable study for natural language grounded navigation in photo-realistic environments, e.g., following natural language instructions or dialog. However, existing methods tend to overfit training data in seen…
Developing Vision-and-Language Navigation (VLN) agents typically assumes a \textit{train-once-deploy-once} strategy, which is unrealistic as deployed agents continually encounter novel environments. To address this, we propose the Continual…
Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…