相关论文: Target-Driven Structured Transformer Planner for V…

In this paper, we introduce the map-language navigation task where an agent executes natural language instructions and moves to the target position based only on a given 3D semantic map. To tackle the task, we design the instruction-aware…

Scene graph generation aims to provide a semantic and structural description of an image, denoting the objects (with nodes) and their relationships (with edges). The best performing works to date are based on exploiting the context…

Object Navigation (ObjectNav) has made great progress with large language models (LLMs), but still faces challenges in memory management, especially in long-horizon tasks and dynamic scenes. To address this, we propose TopoNav, a new…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Object goal navigation aims to navigate an agent to locations of a given object category in unseen environments. Classical methods explicitly build maps of environments and require extensive engineering while lacking semantic information…

Enabling robotic agents to perform complex long-horizon tasks has been a long-standing goal in robotics and artificial intelligence (AI). Despite the potential shown by large language models (LLMs), their planning capabilities remain…

Vision Transformer has demonstrated impressive success across various vision tasks. However, its heavy computation cost, which grows quadratically with respect to the token sequence length, largely limits its power in handling large feature…

We present a fast, spatio-temporal scene understanding framework based on Visual Geometry Grounded Transformer (VGGT). The proposed pipeline is designed to enable efficient, close to real-time performance, supporting applications including…

Vision-Language Models (VLMs) provide a promising foundation for autonomous driving planning, yet bridging semantic reasoning and precise 3D spatial forecasting remains a critical challenge. Existing representation strategies generally…

Planning an optimal route in a complex environment requires efficient reasoning about the surrounding scene. While human drivers prioritize important objects and ignore details not relevant to the decision, learning-based planners typically…

Deep neural networks, especially transformer-based architectures, have achieved remarkable success in semantic segmentation for environmental perception. However, existing models process video frames independently, thus failing to leverage…

In Vision-and-Language Navigation (VLN), an agent is required to plan a path to the target specified by the language instruction, using its visual observations. Consequently, prevailing VLN methods primarily focus on building powerful…

Transformer-based models have transformed the landscape of natural language processing (NLP) and are increasingly applied to computer vision tasks with remarkable success. These models, renowned for their ability to capture long-range…

Audio-visual Navigation refers to an agent utilizing visual and auditory information in complex 3D environments to accomplish target localization and path planning, thereby achieving autonomous navigation. The core challenge of this task…

Holistic understanding and reasoning in 3D scenes are crucial for the success of autonomous driving systems. The evolution of 3D semantic occupancy prediction as a pretraining task for autonomous driving and robotic applications captures…

We deal with the navigation problem where the agent follows natural language instructions while observing the environment. Focusing on language understanding, we show the importance of spatial semantics in grounding navigation instructions…

Vision-and-Language Navigation (VLN) is a cornerstone of embodied intelligence. However, current agents often suffer from significant performance degradation when transitioning from simulation to real-world deployment, primarily due to…

Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…

Table structure recognition (TSR) aims to convert tabular images into a machine-readable format. Although hybrid convolutional neural network (CNN)-transformer architecture is widely used in existing approaches, linear projection…

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…