相关论文: Structure-Encoding Auxiliary Tasks for Improved Vi…

We address the task of Vision-Language Navigation in Continuous Environments (VLN-CE) under the zero-shot setting. Zero-shot VLN-CE is particularly challenging due to the absence of expert demonstrations for training and minimal environment…

We study zero-shot instance navigation, in which the agent navigates to a specific object without using object annotations for training. Previous object navigation approaches apply the image-goal navigation (ImageNav) task (go to the…

Vision-and-Language Navigation (VLN) has gained significant research interest in recent years due to its potential applications in real-world scenarios. However, existing VLN methods struggle with the issue of spurious associations,…

In this study, we conduct a comprehensive benchmark of the Safe Reinforcement Learning (Safe RL) algorithms for the task of vision-driven river following of Unmanned Aerial Vehicle (UAV) in a Unity-based photo-realistic simulation…

Humans excel at efficiently navigating through crowds without collision by focusing on specific visual regions relevant to navigation. However, most robotic visual navigation methods rely on deep learning models pre-trained on vision tasks,…

Vision-and-language navigation (VLN) agents are trained to navigate in real-world environments by following natural language instructions. A major challenge in VLN is the limited availability of training data, which hinders the models'…

Medical vision-and-language pre-training provides a feasible solution to extract effective vision-and-language representations from medical images and texts. However, few studies have been dedicated to this field to facilitate medical…

Vision-Language Navigation (VLN) enables intelligent agents to navigate environments by integrating visual perception and natural language instructions, yet faces significant challenges due to the scarcity of fine-grained cross-modal…

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…

We study lifelong visual perception in an embodied setup, where we develop new models and compare various agents that navigate in buildings and occasionally request annotations which, in turn, are used to refine their visual perception…

Vision encoders are increasingly used in modern applications, from vision-only models to multimodal systems such as vision-language models. Despite their remarkable success, it remains unclear how these architectures represent features…

Deep learning architectures such as convolutional neural networks are the standard in computer vision for image processing tasks. Their accuracy however often comes at the cost of long and computationally expensive training, the need for…

A core challenge in AI-guided autonomy is enabling agents to navigate realistically and effectively in previously unseen environments based on natural language commands. We propose UAV-VLN, a novel end-to-end Vision-Language Navigation…

Vision-and-language navigation (VLN) is a challenging task that requires an agent to navigate in real-world environments by understanding natural language instructions and visual information received in real-time. Prior works have…

As transformer evolves, pre-trained models have advanced at a breakneck pace in recent years. They have dominated the mainstream techniques in natural language processing (NLP) and computer vision (CV). How to adapt pre-training to the…

Every autonomous driving dataset has a different configuration of sensors, originating from distinct geographic regions and covering various scenarios. As a result, 3D detectors tend to overfit the datasets they are trained on. This causes…

Vision-Language Models (VLMs) leverage aligned visual encoders to transform images into visual tokens, allowing them to be processed similarly to text by the backbone large language model (LLM). This unified input paradigm enables VLMs to…

Vision and Language (VL) models have demonstrated remarkable zero-shot performance in a variety of tasks. However, some aspects of complex language understanding still remain a challenge. We introduce the collective notion of Structured…

Recent vision-language-action (VLA) models built upon pretrained vision-language models (VLMs) have achieved significant improvements in robotic manipulation. However, current VLAs still suffer from low sample efficiency and limited…

Training-free Vision-Language Navigation (VLN) agents powered by foundation models can follow instructions and explore 3D environments. However, existing approaches rely on greedy frontier selection and passive spatial memory, leading to…