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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…
Vision-and-Language Navigation (VLN) requires an embodied agent to navigate in a complex 3D environment according to natural language instructions. Recent progress in large language models (LLMs) has enabled language-driven navigation with…
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,…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…
Vision-Language Models (VLMs) excel at complex visual tasks such as VQA and chart understanding, yet recent work suggests they struggle with simple perceptual tests. We present an evaluation of vision-language models' capacity for nonlocal…
We investigate the ability of Vision Language Models (VLMs) to perform visual perspective taking using a new set of visual tasks inspired by established human tests. Our approach leverages carefully controlled scenes in which a single…
Understanding how humans leverage semantic knowledge to navigate unfamiliar environments and decide where to explore next is pivotal for developing robots capable of human-like search behaviors. We introduce a zero-shot navigation approach,…
Vision-and-Language Navigation (VLN) requires agents to follow language instructions while acting in continuous real-world spaces. Prior image imagination based VLN work shows benefits for discrete panoramas but lacks online,…
Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such as point-clouds and meshes, with natural language-based…
Humans can collaborate and complete tasks based on visual signals and instruction from the environment. Training such a robot is difficult especially due to the understanding of the instruction and the complicated environment. Previous…
Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…
Vision-and-language navigation (VLN) is a challenging task that requires an agent to navigate in real-world environments by understanding natural language instructions and visual information received in real-time. Prior works have…
Recent advances in Iterative Vision-and-Language Navigation (IVLN) introduce a more meaningful and practical paradigm of VLN by maintaining the agent's memory across tours of scenes. Although the long-term memory aligns better with the…
Large Vision-Language Models (VLMs) have demonstrated potential in enhancing mobile robot navigation in human-centric environments by understanding contextual cues, human intentions, and social dynamics while exhibiting reasoning…
Vision-language models (VLMs) hold promise for enhancing visualization tools, but effective human-AI collaboration hinges on a shared perceptual understanding of visual content. Prior studies assessed VLM visualization literacy through…
Vision-Language Models (VLMs) are powerful tools for processing and understanding text and images. We study the processing of visual tokens in the language model component of LLaVA, a prominent VLM. Our approach focuses on analyzing the…
Vision-Language Navigation (VLN) systems are fundamentally constrained by partial observability, as an agent can only accumulate knowledge from locations it has personally visited. As multiple robots increasingly coexist in shared…
Vision-and-Language Navigation (VLN) poses significant challenges for agents to interpret natural language instructions and navigate complex 3D environments. While recent progress has been driven by large-scale pre-training and data…
Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…