相关论文: Bridging the visual gap in VLN via semantically ri…

We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…

With the rapid progress of foundation models and robotics, vision-language navigation (VLN) has emerged as a key task for embodied agents with broad practical applications. We address VLN in continuous environments, a particularly…

Vision-and-Language Navigation (VLN) is a challenging task that requires an agent to navigate through photorealistic environments following natural-language instructions. One main obstacle existing in VLN is data scarcity, leading to poor…

Existing aerial Vision-Language Navigation (VLN) methods predominantly adopt a detection-and-planning pipeline, which converts open-vocabulary detections into discrete textual scene graphs. These approaches are plagued by inadequate spatial…

Generalist robots should be able to understand and follow user instructions, but current vision-language-action (VLA) models struggle with following fine-grained commands despite providing a powerful architecture for mapping open-vocabulary…

Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large…

Most existing works in vision-and-language navigation (VLN) focus on either discrete or continuous environments, training agents that cannot generalize across the two. The fundamental difference between the two setups is that discrete…

Recent advances in Iterative Vision-and-Language Navigation (IVLN) introduce a more meaningful and practical paradigm of VLN by maintaining the agent's memory across tours of scenes. Although the long-term memory aligns better with the…

Vision-and-language navigation (VLN) requires an embodied agent to navigate in realistic 3D environments using natural language instructions. Existing VLN methods suffer from training on small-scale environments or unreasonable…

We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…

Humans can collaborate and complete tasks based on visual signals and instruction from the environment. Training such a robot is difficult especially due to the understanding of the instruction and the complicated environment. Previous…

Vision-language models (VLMs) have been widely-applied in ground-based vision-language navigation (VLN). However, the vast complexity of outdoor aerial environments compounds data acquisition challenges and imposes long-horizon trajectory…

Incremental decision making in real-world environments is one of the most challenging tasks in embodied artificial intelligence. One particularly demanding scenario is Vision and Language Navigation~(VLN) which requires visual and natural…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…

One of the most challenging topics in Natural Language Processing (NLP) is visually-grounded language understanding and reasoning. Outdoor vision-and-language navigation (VLN) is such a task where an agent follows natural language…

Although large language models (LLMs) are introduced into vision-and-language navigation (VLN) to improve instruction comprehension and generalization, existing LLM- based VLN lacks the ability to selectively recall and use relevant priori…

This paper presents a novel approach for the Vision-and-Language Navigation (VLN) task in continuous 3D environments, which requires an autonomous agent to follow natural language instructions in unseen environments. Existing end-to-end…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Vision-and-language navigation (VLN) stands as a key research problem of Embodied AI, aiming at enabling agents to navigate in unseen environments following linguistic instructions. In this field, generalization is a long-standing…