相关论文: A Priority Map for Vision-and-Language Navigation …

Most existing works solving Room-to-Room VLN problem only utilize RGB images and do not consider local context around candidate views, which lack sufficient visual cues about surrounding environment. Moreover, natural language contains…

While recent large vision-language models (VLMs) have improved generalization in vision-language navigation (VLN), existing methods typically rely on end-to-end pipelines that map vision-language inputs directly to short-horizon discrete…

In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuously update and refine its feature map in order to adapt to the…

Vision and language navigation is a task that requires an agent to navigate according to a natural language instruction. Recent methods predict sub-goals on constructed topology map at each step to enable long-term action planning. However,…

Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…

Visual impairment affects hundreds of millions of people worldwide, severely limiting their ability to navigate urban environments safely and independently. While wearable assistive devices offer a promising platform for real-time hazard…

While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets suffer from language annotations that are weakly aligned with…

Vision-language models (VLMs) achieve strong performance on multimodal benchmarks, but may still lack robust control over basic visual operations. We study \textit{line tracing}, where a model must follow a selected visual path through…

Vision-and-Language Navigation (VLN) aims to develop embodied agents that navigate based on human instructions. However, current VLN frameworks often rely on static environments and optimal expert supervision, limiting their real-world…

Visual place recognition tasks often encounter significant challenges in landmark detection due to the presence of irrelevant objects such as humans, cars, and trees, despite the remarkable progress achieved by previous models, especially…

While natural language is commonly used to guide embodied agents, the inherent ambiguity and verbosity of language often hinder the effectiveness of language-guided navigation in complex environments. To this end, we propose Visual Prompt…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…

Advances in learning and representations have reinvigorated work that connects language to other modalities. A particularly exciting direction is Vision-and-Language Navigation(VLN), in which agents interpret natural language instructions…

Planning is a crucial element of both human intelligence and contemporary large language models (LLMs). In this paper, we initiate a theoretical investigation into the emergence of planning capabilities in Transformer-based LLMs via their…

The existing methods for Vision and Language Navigation in the Continuous Environment (VLN-CE) commonly incorporate a waypoint predictor to discretize the environment. This simplifies the navigation actions into a view selection task and…

We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…

Following a navigation instruction such as 'Walk down the stairs and stop at the brown sofa' requires embodied AI agents to ground scene elements referenced via language (e.g. 'stairs') to visual content in the environment (pixels…

We explore the use of language as a perceptual representation for vision-and-language navigation (VLN), with a focus on low-data settings. Our approach uses off-the-shelf vision systems for image captioning and object detection to convert…