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Embodied agents equipped with GPT as their brains have exhibited extraordinary decision-making and generalization abilities across various tasks. However, existing zero-shot agents for vision-and-language navigation (VLN) only prompt GPT-4…
Vision-language navigation is a task that requires an agent to follow instructions to navigate in environments. It becomes increasingly crucial in the field of embodied AI, with potential applications in autonomous navigation, search and…
Vision-and-Language Navigation (VLN) requires an agent to navigate in a real-world environment following natural language instructions. From both the textual and visual perspectives, we find that the relationships among the scene, its…
In the Vision-and-Language Navigation (VLN) field, agents are tasked with navigating real-world scenes guided by linguistic instructions. Enabling the agent to adhere to instructions throughout the process of navigation represents a…
Humans navigate unfamiliar environments using episodic simulation and episodic memory, which facilitate a deeper understanding of the complex relationships between environments and objects. Developing an imaginative memory system inspired…
Vision-language navigation (VLN) is the task of entailing an agent to carry out navigational instructions inside photo-realistic environments. One of the key challenges in VLN is how to conduct a robust navigation by mitigating the…
Large Language Models (LLMs) as interactive agents show significant promise in Knowledge Graph Question Answering (KGQA) but often struggle with the semantic gap between natural language queries and structured knowledge graph (KG)…
Trained with an unprecedented scale of data, large language models (LLMs) like ChatGPT and GPT-4 exhibit the emergence of significant reasoning abilities from model scaling. Such a trend underscored the potential of training LLMs with…
Vision-and-Language Navigation in Continuous Environments (VLN-CE) is a navigation task that requires an agent to follow a language instruction in a realistic environment. The understanding of environments is a crucial part of the VLN-CE…
Vision-and-Language Navigation (VLN) is the task that requires an agent to navigate through the environment based on natural language instructions. At each step, the agent takes the next action by selecting from a set of navigable…
In partially known environments, robots must combine exploration to gather information with task planning for efficient execution. To address this challenge, we propose EPoG, an Exploration-based sequential manipulation Planning framework…
Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…
Vision-language navigation is the task of directing an embodied agent to navigate in 3D scenes with natural language instructions. For the agent, inferring the long-term navigation target from visual-linguistic clues is crucial for reliable…
In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…
In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high…
Following language instructions to navigate in unseen environments is a challenging problem for autonomous embodied agents. The agent not only needs to ground languages in visual scenes, but also should explore the environment to reach its…
We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a sequence of actions towards goals in the environment. The Cognitive Mapper and Planner…
Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…
Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense and spatial reasoning for efficient exploration in…
Large language model (LLM)-based agents have demonstrated strong capabilities in complex reasoning and problem solving through multi-step interactions, yet most deployed agents remain behaviorally static, with knowledge acquired during…