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VALAN is a lightweight and scalable software framework for deep reinforcement learning based on the SEED RL architecture. The framework facilitates the development and evaluation of embodied agents for solving grounded language…
Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…
The task of vision-and-language navigation in continuous environments (VLN-CE) aims at training an autonomous agent to perform low-level actions to navigate through 3D continuous surroundings using visual observations and language…
Volumetric design is the first and critical step for professional building design, where architects not only depict the rough 3D geometry of the building but also specify the programs to form a 2D layout on each floor. Though 2D layout…
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…
Although large language models (LLMs) are introduced into vision-and-language navigation (VLN) to improve instruction comprehension and generalization, existing LLM- based VLN lacks the ability to selectively recall and use relevant priori…
Decades of cognitive science establish that humans navigate environments by forming cognitive maps, defined as allocentric and topology-preserving representations of 3D space. While modern Vision-Language Models (VLMs) demonstrate emergent…
With the emergence of varied visual navigation tasks (e.g, image-/object-/audio-goal and vision-language navigation) that specify the target in different ways, the community has made appealing advances in training specialized agents capable…
Numerous studies have investigated the pivotal role of reliable 3D volume representation in scene perception tasks, such as multi-view stereo (MVS) and semantic scene completion (SSC). They typically construct 3D probability volumes…
Pre-trained general-purpose Vision-Language Models (VLM) hold the potential to enhance intuitive human-machine interactions due to their rich world knowledge and 2D object detection capabilities. However, VLMs for 3D coordinates detection…
Rapid advancements in Autonomous Driving (AD) tasks turned a significant shift toward end-to-end fashion, particularly in the utilization of vision-language models (VLMs) that integrate robust logical reasoning and cognitive abilities to…
Embodied agents face a critical dilemma that end-to-end models lack interpretability and explicit 3D reasoning, while modular systems ignore cross-component interdependencies and synergies. To bridge this gap, we propose the Dynamic 3D…
Vision Language Navigation in Continuous Environments (VLN-CE) represents a frontier in embodied AI, demanding agents to navigate freely in unbounded 3D spaces solely guided by natural language instructions. This task introduces distinct…
The aspiration of the Vision-and-Language Navigation (VLN) task has long been to develop an embodied agent with robust adaptability, capable of seamlessly transferring its navigation capabilities across various tasks. Despite remarkable…
Volumetric medical imaging technologies produce detailed 3D representations of anatomical structures. However, effective medical data visualization and exploration pose significant challenges, especially for individuals with limited medical…
A metric-accurate semantic 3D representation is essential for many robotic tasks. This work proposes a simple, yet powerful, way to integrate the 2D embeddings of a Vision-Language Model in a metric-accurate 3D representation at real-time.…
Despite remarkable progress in Vision-Language Navigation (VLN), existing benchmarks remain confined to fixed, small-scale datasets with naive physical simulation. These shortcomings limit the insight that the benchmarks provide into…
Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to execute sequential navigation actions in complex environments guided by natural language instructions. Current approaches often struggle with generalizing…
This paper addresses the challenge of fine-grained alignment in Vision-and-Language Navigation (VLN) tasks, where robots navigate realistic 3D environments based on natural language instructions. Current approaches use contrastive learning…
Vision-and-Language Navigation (VLN) requires an agent to find a specified spot in an unseen environment by following natural language instructions. Dominant methods based on supervised learning clone expert's behaviours and thus perform…