相关论文: Waypoint Models for Instruction-guided Navigation …

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…

Vision-language navigation (VLN) is the task of entailing an agent to carry out navigational instructions inside photo-realistic environments. One of the key challenges in VLN is how to conduct a robust navigation by mitigating the…

We propose an end-to-end deep learning model for translating free-form natural language instructions to a high-level plan for behavioral robot navigation. We use attention models to connect information from both the user instructions and a…

Long-horizon collaborative vision-language navigation (VLN) is critical for multi-robot systems to accomplish complex tasks beyond the capability of a single agent. CoNavBench takes a first step by introducing the first collaborative…

Vision-Language Navigation (VLN) aims to enable agents to navigate to a target location based on language instructions. Traditional VLN often follows a close-set assumption, i.e., training and test data share the same style of the input…

Motion forecasting in highly interactive scenarios is a challenging problem in autonomous driving. In such scenarios, we need to accurately predict the joint behavior of interacting agents to ensure the safe and efficient navigation of…

Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…

Imitation learning is becoming more and more successful for autonomous driving. End-to-end (raw signal to command) performs well on relatively simple tasks (lane keeping and navigation). Mid-to-mid (environment abstraction to mid-level…

We learn end-to-end point-to-point and path-following navigation behaviors that avoid moving obstacles. These policies receive noisy lidar observations and output robot linear and angular velocities. The policies are trained in small,…

We propose to decompose instruction execution to goal prediction and action generation. We design a model that maps raw visual observations to goals using LINGUNET, a language-conditioned image generation network, and then generates the…

Audio-visual navigation enables embodied agents to navigate toward sound-emitting targets by leveraging both auditory and visual cues. However, most existing approaches rely on precomputed room impulse responses (RIRs) for binaural audio…

Despite decades of research, existing navigation systems still face real-world challenges when deployed in the wild, e.g., in cluttered home environments or in human-occupied public spaces. To address this, we present a new class of…

Vision-Language Models (VLMs) have been increasingly integrated into object navigation tasks for their rich prior knowledge and strong reasoning abilities. However, applying VLMs to navigation poses two key challenges: effectively…

The study of vision-and-language navigation (VLN) has typically relied on expert trajectories, which may not always be available in real-world situations due to the significant effort required to collect them. On the other hand, existing…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

In vision-and-language navigation (VLN), an embodied agent is required to navigate in realistic 3D environments following natural language instructions. One major bottleneck for existing VLN approaches is the lack of sufficient training…

Vision-Language Models (VLMs) have shown remarkable progress in Vision-Language Navigation (VLN), offering new possibilities for navigation decision-making that could benefit both robotic platforms and human users. However, real-world…

A long-term goal of AI research is to build intelligent agents that can communicate with humans in natural language, perceive the environment, and perform real-world tasks. Vision-and-Language Navigation (VLN) is a fundamental and…