相关论文: Visual Perception Generalization for Vision-and-La…

One of the most challenging topics in Natural Language Processing (NLP) is visually-grounded language understanding and reasoning. Outdoor vision-and-language navigation (VLN) is such a task where an agent follows natural language…

Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an…

Current Vision-and-Language Navigation (VLN) tasks mainly employ textual instructions to guide agents. However, being inherently abstract, the same textual instruction can be associated with different visual signals, causing severe…

Vision-language models (VLMs) have been widely-applied in ground-based vision-language navigation (VLN). However, the vast complexity of outdoor aerial environments compounds data acquisition challenges and imposes long-horizon trajectory…

Vision-and-Language Navigation (VLN) requires an agent to navigate in a real-world environment following natural language instructions. From both the textual and visual perspectives, we find that the relationships among the scene, its…

Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize…

Vision-and-Language Navigation (VLN) aims to develop intelligent agents to navigate in unseen environments only through language and vision supervision. In the recently proposed continuous settings (continuous VLN), the agent must act in a…

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…

Remote sensing has become a vital tool across sectors such as urban planning, environmental monitoring, and disaster response. While the volume of data generated has increased significantly, traditional vision models are often constrained…

Vision-and-Language Navigation (VLN) tasks require an agent to follow textual instructions to navigate through 3D environments. Traditional approaches use supervised learning methods, relying heavily on domain-specific datasets to train VLN…

English-based Vision-Language Pre-training (VLP) has achieved great success in various downstream tasks. Some efforts have been taken to generalize this success to non-English languages through Multilingual Vision-Language Pre-training…

Vision-Language-Action (VLA) models have shown remarkable achievements, driven by the rich implicit knowledge of their vision-language components. However, achieving generalist robotic agents demands precise grounding into physical…

We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observations to a latent representation of an expert policy. The expert…

Following the recent popularity of Large Language Models (LLMs), several attempts have been made to extend them to the visual domain. From having a visual assistant that could guide us through unfamiliar environments to generative models…

Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…

Generalization in robot manipulation is essential for deploying robots in open-world environments and advancing toward artificial general intelligence. While recent Vision-Language-Action (VLA) models leverage large pre-trained…

Large-scale pre-trained Vision-Language Models (VLMs) have become essential for transfer learning across diverse tasks. However, adapting these models with limited few-shot data often leads to overfitting, diminishing their performance on…

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…

Visual Semantic Navigation (VSN) is a fundamental problem in robotics, where an agent must navigate toward a target object in an unknown environment, mainly using visual information. Most state-of-the-art VSN models are trained 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…