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Training-free Vision-Language Navigation (VLN) agents powered by foundation models can follow instructions and explore 3D environments. However, existing approaches rely on greedy frontier selection and passive spatial memory, leading to…
Vision-language Navigation (VLN) tasks require an agent to navigate step-by-step while perceiving the visual observations and comprehending a natural language instruction. Large data bias, which is caused by the disparity ratio between the…
While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…
Visual language navigation (VLN) is an embodied task demanding a wide range of skills encompassing understanding, perception, and planning. For such a multifaceted challenge, previous VLN methods totally rely on one model's own thinking to…
In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…
An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…
Pre-trained language models have been shown to improve performance in many natural language tasks substantially. Although the early focus of such models was single language pre-training, recent advances have resulted in cross-lingual and…
Vision language navigation is the task that requires an agent to navigate through a 3D environment based on natural language instructions. One key challenge in this task is to ground instructions with the current visual information that the…
Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations…
Vision-and-Language Navigation in Continuous Environments (VLN-CE) is one of the most intuitive yet challenging embodied AI tasks. Agents are tasked to navigate towards a target goal by executing a set of low-level actions, following a…
Vision and Language Navigation (VLN) requires an agent to navigate to a target location by following natural language instructions. Most of existing works represent a navigation candidate by the feature of the corresponding single view…
With the rapid progress of foundation models and robotics, vision-language navigation (VLN) has emerged as a key task for embodied agents with broad practical applications. We address VLN in continuous environments, a particularly…
In this paper, we study how to use masked signal modeling in vision and language (V+L) representation learning. Instead of developing masked language modeling (MLM) and masked image modeling (MIM) independently, we propose to build joint…
Vision-Language Pre-training (VLP) aims to learn multi-modal representations from image-text pairs and serves for downstream vision-language tasks in a fine-tuning fashion. The dominant VLP models adopt a CNN-Transformer architecture, which…
Multimodal learning from document data has achieved great success lately as it allows to pre-train semantically meaningful features as a prior into a learnable downstream task. In this paper, we approach the document classification problem…
Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…
Large Vision-Language Models (VLMs) rely on effective multimodal alignment between pre-trained vision encoders and Large Language Models (LLMs) to integrate visual and textual information. This paper presents a comprehensive analysis of…
Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…
Large language models (LLMs) and vision-language models (VLMs) have demonstrated remarkable performance across a wide range of tasks and domains. Despite this promise, spatial understanding and reasoning -- a fundamental component of human…
We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observations to a latent representation of an expert policy. The expert…