Related papers: Aerial Vision-Language Navigation with a Unified F…
We explore the use of language as a perceptual representation for vision-and-language navigation (VLN), with a focus on low-data settings. Our approach uses off-the-shelf vision systems for image captioning and object detection to convert…
Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…
We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…
Recent advances in vision-language models (VLMs) have demonstrated strong generalization in natural image tasks. However, their performance often degrades on unmanned aerial vehicle (UAV)-based aerial imagery, which features high…
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…
Navigating in unseen environments is crucial for mobile robots. Enhancing them with the ability to follow instructions in natural language will further improve navigation efficiency in unseen cases. However, state-of-the-art (SOTA)…
The ability to converse with humans and follow natural language commands is crucial for intelligent unmanned aerial vehicles (a.k.a. drones). It can relieve people's burden of holding a controller all the time, allow multitasking, and make…
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…
Vision-and-Language Navigation (VLN) is a cornerstone of embodied intelligence. However, current agents often suffer from significant performance degradation when transitioning from simulation to real-world deployment, primarily due to…
With the rapid advancement of Large Language Models (LLMs), their capabilities in various automation domains, particularly Unmanned Aerial Vehicle (UAV) operations, have garnered increasing attention. Current research remains predominantly…
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…
The UAV-VLA (Visual-Language-Action) system is a tool designed to facilitate communication with aerial robots. By integrating satellite imagery processing with the Visual Language Model (VLM) and the powerful capabilities of GPT, UAV-VLA…
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
Understanding and following natural language instructions while navigating through complex, real-world environments poses a significant challenge for general-purpose robots. These environments often include obstacles and pedestrians, making…
Maritime port inspection plays a critical role in ensuring safety, regulatory compliance, and operational efficiency in complex maritime environments. However, existing inspection methods often rely on manual operations and conventional…
Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…
Vision-and-Language Navigation in Continuous Environments (VLN-CE), which links language instructions to perception and control in the real world, is a core capability of embodied robots. Recently, large-scale pretrained foundation models…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Vision-and-Language Navigation (VLN) tasks require an agent to navigate through the environment based on language instructions. In this paper, we aim to solve two key challenges in this task: utilizing multilingual instructions for improved…
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…