相关论文: Look, Listen, and Act: Towards Audio-Visual Embodi…

Integrating visual and linguistic information into a single multimodal representation is an unsolved problem with wide-reaching applications to both natural language processing and computer vision. In this paper, we present a simple method…

Goal-oriented navigation presents a fundamental challenge for autonomous systems, requiring agents to navigate complex environments to reach designated targets. This survey offers a comprehensive analysis of multimodal navigation approaches…

This paper presents a novel approach to simulate human wayfinding behaviour incorporating visual cognition into a software agent for a computer aided evaluation of wayfinding systems in large infrastructures. The proposed approach follows…

The goal of Audio-Visual Segmentation (AVS) is to localize and segment the sounding source objects from video frames. Research on AVS suffers from data scarcity due to the high cost of fine-grained manual annotations. Recent works attempt…

We revisit the problem of Object-Goal Navigation (ObjectNav). In its simplest form, ObjectNav is defined as the task of navigating to an object, specified by its label, in an unexplored environment. In particular, the agent is initialized…

Humans can robustly recognize and localize objects by using visual and/or auditory cues. While machines are able to do the same with visual data already, less work has been done with sounds. This work develops an approach for scene…

This paper focuses on embodied task planning, where an agent acquires visual observations from the environment and executes atomic actions to accomplish a given task. Although recent Vision-Language Models (VLMs) have achieved impressive…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

Dynamic objects in the environment, such as people and other agents, lead to challenges for existing simultaneous localization and mapping (SLAM) approaches. To deal with dynamic environments, computer vision researchers usually apply some…

Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and can pose risk. Learning from expert demonstrations, on the…

Locating a target based on auditory and visual cues$\unicode{x2013}$such as finding a car in a crowded parking lot or identifying a speaker in a virtual meeting$\unicode{x2013}$requires balancing effort, time, and accuracy under…

Vision-and-language navigation (VLN) is a multimodal task where an agent follows natural language instructions and navigates in visual environments. Multiple setups have been proposed, and researchers apply new model architectures or…

Sight and hearing are two senses that play a vital role in human communication and scene understanding. To mimic human perception ability, audio-visual learning, aimed at developing computational approaches to learn from both audio and…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

Enhancing the spatial perception capabilities of mobile robots is crucial for achieving embodied Vision-and-Language Navigation (VLN). Although significant progress has been made in simulated environments, directly transferring these…

Navigation guided by natural language instructions presents a challenging reasoning problem for instruction followers. Natural language instructions typically identify only a few high-level decisions and landmarks rather than complete…

Omnimodal large language models have made significant strides in unifying audio and visual modalities; however, they often face challenges in fine-grained cross-modal understanding and have difficulty with multimodal alignment. To address…

In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…

Never having seen an object and heard its sound simultaneously, can the model still accurately localize its visual position from the input audio? In this work, we concentrate on the Audio-Visual Localization and Segmentation tasks but under…

Explaining the decision of a multi-modal decision-maker requires to determine the evidence from both modalities. Recent advances in XAI provide explanations for models trained on still images. However, when it comes to modeling multiple…