相关论文: Airbert: In-domain Pretraining for Vision-and-Lang…
Vision-Language Navigation (VLN) aims to guide agents by leveraging language instructions and visual cues, playing a pivotal role in embodied AI. Indoor VLN has been extensively studied, whereas outdoor aerial VLN remains underexplored. The…
Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…
In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high…
Autonomous navigation guided by natural language instructions in embodied environments remains a challenge for vision-language navigation (VLN) agents. Although recent advancements in learning diverse and fine-grained visual environmental…
In this paper, we propose to investigate the problem of out-of-domain visio-linguistic pretraining, where the pretraining data distribution differs from that of downstream data on which the pretrained model will be fine-tuned. Existing…
Recent research on Vision-and-Language Navigation (VLN) indicates that agents suffer from poor generalization in unseen environments due to the lack of realistic training environments and high-quality path-instruction pairs. Most existing…
Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…
Vision-and-Language Navigation (VLN) is a task to guide an embodied agent moving to a target position using language instructions. Despite the significant performance improvement, the wide use of fine-grained instructions fails to…
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…
Unmanned Aerial Vehicle (UAV) Vision-and-Language Navigation (VLN) is vital for applications such as disaster response, logistics delivery, and urban inspection. However, existing methods often struggle with insufficient multimodal fusion,…
With the burgeoning amount of data of image-text pairs and diversity of Vision-and-Language (V\&L) tasks, scholars have introduced an abundance of deep learning models in this research domain. Furthermore, in recent years, transfer learning…
Data privacy is a central problem for embodied agents that can perceive the environment, communicate with humans, and act in the real world. While helping humans complete tasks, the agent may observe and process sensitive information of…
In Vision-and-Language Navigation (VLN), an agent needs to navigate through the environment based on natural language instructions. Due to limited available data for agent training and finite diversity in navigation environments, it is…
Navigating in unseen environments is crucial for mobile robots. Enhancing them with the ability to follow instructions in natural language will further improve navigation efficiency in unseen cases. However, state-of-the-art (SOTA)…
This paper introduces VLAP, a novel approach that bridges pretrained vision models and large language models (LLMs) to make frozen LLMs understand the visual world. VLAP transforms the embedding space of pretrained vision models into the…
Pretrained visual-language models have extensive world knowledge and are widely used in visual and language navigation (VLN). However, they are not sensitive to indoor scenarios for VLN tasks. Another challenge for VLN is how the agent…
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…
In Vision-and-Language Navigation (VLN), researchers typically take an image encoder pre-trained on ImageNet without fine-tuning on the environments that the agent will be trained or tested on. However, the distribution shift between the…
Aerial vision-and-language navigation (VLN), requiring drones to interpret natural language instructions and navigate complex urban environments, emerges as a critical embodied AI challenge that bridges human-robot interaction, 3D spatial…
Vision-and-language navigation (VLN) is a task in which an agent is embodied in a realistic 3D environment and follows an instruction to reach the goal node. While most of the previous studies have built and investigated a discriminative…