Related papers: Uncertainty-Aware Gaussian Map for Vision-Language…
Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…
Vision-and-language navigation (VLN) is the task to enable an embodied agent to navigate to a remote location following the natural language instruction in real scenes. Most of the previous approaches utilize the entire features or…
Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic…
Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large…
3D Gaussian Splatting (3DGS), a 3D representation method with photorealistic real-time rendering capabilities, is regarded as an effective tool for narrowing the sim-to-real gap. However, it lacks fine-grained semantics and physical…
Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. At each navigation step, the agent selects from possible candidate locations and then…
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 address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…
Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human commands and execute long-horizon tasks in…
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…
Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an active semantic mapping framework designed to predict the…
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…
Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it. Existing systems remain limited in real…
Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…
Vision-and-Language Navigation (VLN) is a challenging task that requires an agent to navigate through photorealistic environments following natural-language instructions. One main obstacle existing in VLN is data scarcity, leading to poor…
Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in complex environments remains challenging due…
Vision-and-language navigation (VLN) enables the agent to navigate to a remote location in 3D environments following the natural language instruction. In this field, the agent is usually trained and evaluated in the navigation simulators,…
In Vision-and-Language Navigation (VLN), an agent is required to plan a path to the target specified by the language instruction, using its visual observations. Consequently, prevailing VLN methods primarily focus on building powerful…
Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. To represent the previously visited environment, most approaches for VLN implement memory…
Vision-and-Language Navigation (VLN), as a widely discussed research direction in embodied intelligence, aims to enable embodied agents to navigate in complicated visual environments through natural language commands. Most existing VLN…