Related papers: Scaling Data Generation in Vision-and-Language Nav…
Reinforcement Learning (RL) offers a powerful paradigm for autonomous robots to master generalist manipulation skills through trial-and-error. However, its real-world application is stifled by low sample efficiency. Recent Human-in-the-Loop…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…
Multimodal deep search requires an agent to solve open-world problems by chaining search, tool use, and visual reasoning over evolving textual and visual context. Two bottlenecks limit current systems. First, existing tool-use harnesses…
This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…
How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. delivering a package)? We study this question by integrating a generic perceptual skill set…
We present the Frontier Aware Search with backTracking (FAST) Navigator, a general framework for action decoding, that achieves state-of-the-art results on the Room-to-Room (R2R) Vision-and-Language navigation challenge of Anderson et. al.…
Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have sparked significant interest in developing GUI visual agents. We introduce MONDAY (Mobile OS Navigation Task Dataset for Agents from YouTube), a…
Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…
While large vision-language models (VLMs) show promise for object goal navigation, current methods still struggle with low success rates and inefficient localization of unseen objects--failures primarily attributed to weak temporal-spatial…
Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…
Learning to navigate in a realistic setting where an agent must rely solely on visual inputs is a challenging task, in part because the lack of position information makes it difficult to provide supervision during training. In this paper,…
Autonomous visual navigation is an essential element in robot autonomy. Reinforcement learning (RL) offers a promising policy training paradigm. However existing RL methods suffer from high sample complexity, poor sim-to-real transfer, and…
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…
The remarkable multimodal capabilities demonstrated by OpenAI's GPT-4 have sparked significant interest in the development of multimodal Large Language Models (LLMs). A primary research objective of such models is to align visual and…
How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. navigating a complex environment)? What are the consequences of not utilizing such visual…
In this work, we focus on the problem of grounding language by training an agent to follow a set of natural language instructions and navigate to a target object in an environment. The agent receives visual information through raw pixels…
Vision-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to navigate towards target in continuous environments, following natural language instructions. While current graph-based methods offer an efficient,…
Vision-language navigation (VLN) requires an agent to navigate through an 3D environment based on visual observations and natural language instructions. It is clear that the pivotal factor for successful navigation lies in the comprehensive…
We humans can impeccably search for a target object, given its name only, even in an unseen environment. We argue that this ability is largely due to three main reasons: the incorporation of prior knowledge (or experience), the adaptation…
Collective Perception has attracted significant attention in recent years due to its advantage for mitigating occlusion and expanding the field-of-view, thereby enhancing reliability, efficiency, and, most crucially, decision-making safety.…