相关论文: VISITRON: Visual Semantics-Aligned Interactively T…

Robots operating in human-shared environments must not only achieve task-level navigation objectives such as safety and efficiency, but also adapt their behavior to human preferences. However, as human preferences are typically expressed in…

Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to execute sequential navigation actions in complex environments guided by natural language instructions. Current approaches often struggle with generalizing…

This work focuses on the problem of visual target navigation, which is very important for autonomous robots as it is closely related to high-level tasks. To find a special object in unknown environments, classical and learning-based…

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…

Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…

Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…

Vision-and-language navigation (VLN), a frontier study aiming to pave the way for general-purpose robots, has been a hot topic in the computer vision and natural language processing community. The VLN task requires an agent to navigate to a…

In this work, we formulate a visual dialog as an information flow in which each piece of information is encoded with the joint visual-linguistic representation of a single dialog round. Based on this formulation, we consider the visual…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Vision-and-Language Navigation (VLN) requires agents to interpret natural language instructions and act coherently in visually rich environments. However, most existing methods rely on reactive state-action mappings without explicitly…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

Vision-and-language navigation (VLN) aims to enable embodied agents to navigate in realistic environments using natural language instructions. Given the scarcity of domain-specific training data and the high diversity of image and language…

Object-goal navigation is a crucial engineering task for the community of embodied navigation; it involves navigating to an instance of a specified object category within unseen environments. Although extensive investigations have been…

Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long-horizon planning and semantic understanding. Recent…

We introduce DialNav, a novel collaborative embodied dialog task, where a navigation agent (Navigator) and a remote guide (Guide) engage in multi-turn dialog to reach a goal location. Unlike prior work, DialNav aims for holistic evaluation…

Vision-and-language navigation (VLN) aims to build autonomous visual agents that follow instructions and navigate in real scenes. To remember previously visited locations and actions taken, most approaches to VLN implement memory using…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

Adaptive navigation in unfamiliar environments is crucial for household service robots but remains challenging due to the need for both low-level path planning and high-level scene understanding. While recent vision-language model (VLM)…

Vision-Language Navigation (VLN) requires an embodied agent to navigate complex environments by following natural language instructions, which typically demands tight fusion of visual and language modalities. Existing VLN methods often…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…