相关论文: Generative Language-Grounded Policy in Vision-and-…

Advances in learning and representations have reinvigorated work that connects language to other modalities. A particularly exciting direction is Vision-and-Language Navigation(VLN), in which agents interpret natural language instructions…

Quality-Diversity is a branch of stochastic optimization that is often applied to problems from the Reinforcement Learning and control domains in order to construct repertoires of well-performing policies/skills that exhibit diversity with…

Vision-and-Language Navigation (VLN) is a challenging task in which an agent needs to follow a language-specified path to reach a target destination. The goal gets even harder as the actions available to the agent get simpler and move…

In this work we concentrate on the task of goal-oriented Vision-and-Language Navigation (VLN). Existing methods often make decisions based on historical information, overlooking the future implications and long-term outcomes of the actions.…

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…

Vision-and-Language Navigation (VLN) aims to navigate to the target location by following a given instruction. Unlike existing methods focused on predicting a more accurate action at each step in navigation, in this paper, we make the first…

While recent large vision-language models (VLMs) have improved generalization in vision-language navigation (VLN), existing methods typically rely on end-to-end pipelines that map vision-language inputs directly to short-horizon discrete…

Vision-and-Language Navigation requires an embodied agent to navigate through unseen environments, guided by natural language instructions and a continuous video stream. Recent advances in VLN have been driven by the powerful semantic…

Conventional approaches to vision-and-language navigation (VLN) are trained end-to-end but struggle to perform well in freely traversable environments. Inspired by the robotics community, we propose a modular approach to VLN using…

We propose a learning system in which language is grounded in visual percepts without specific pre-defined categories of terms. We present a unified generative method to acquire a shared semantic/visual embedding that enables the learning…

We study language-conditioned visual navigation (LCVN), in which an embodied agent is asked to follow a natural language instruction based only on an initial egocentric observation. Without access to goal images, the agent must rely on…

Recently, numerous algorithms have been developed to tackle the problem of vision-language navigation (VLN), i.e., entailing an agent to navigate 3D environments through following linguistic instructions. However, current VLN agents simply…

Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…

An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…

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…

Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are…

Humans can collaborate and complete tasks based on visual signals and instruction from the environment. Training such a robot is difficult especially due to the understanding of the instruction and the complicated environment. Previous…

Core to the vision-and-language navigation (VLN) challenge is building robust instruction representations and action decoding schemes, which can generalize well to previously unseen instructions and environments. In this paper, we report…

Vision-and-Language Navigation (VLN) has gained significant research interest in recent years due to its potential applications in real-world scenarios. However, existing VLN methods struggle with the issue of spurious associations,…

Vision-Language Navigation (VLN) is a core challenge in embodied AI, requiring agents to navigate real-world environments using natural language instructions. Current language model-based navigation systems operate on discrete topological…