相关论文: CorNav: Autonomous Agent with Self-Corrected Plann…

Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to execute sequential navigation actions in complex environments guided by natural language instructions. Current approaches often struggle with generalizing…

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…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

Aerial Vision-and-Language Navigation (Aerial VLN) enables unmanned aerial vehicles (UAVs) to follow natural language instructions and navigate complex urban environments. While recent advances have achieved progress through large-scale…

We present UAV-CodeAgents, a scalable multi-agent framework for autonomous UAV mission generation, built on large language and vision-language models (LLMs/VLMs). The system leverages the ReAct (Reason + Act) paradigm to interpret satellite…

Embodied agents are expected to perform object navigation in dynamic, open-world environments. However, existing approaches typically rely on static trajectories and a fixed set of object categories during training, overlooking the…

In recent years, there has been a notable increase in the development of autonomous vehicle (AV) technologies aimed at improving safety in transportation systems. While AVs have been deployed in the real-world to some extent, a full-scale…

Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…

Recent progress in large vision-language models has driven improvements in language-based semantic navigation, where an embodied agent must reach a target object described in natural language. Yet we still lack a clear, language-focused…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…

Vision-and-Language Navigation (VLN) requires an embodied agent to navigate in a complex 3D environment according to natural language instructions. Recent progress in large language models (LLMs) has enabled language-driven navigation with…

Vision-and-Language Navigation (VLN) requires an agent to interpret natural language instructions and navigate complex environments. Current approaches often adopt a "black-box" paradigm, where a single Large Language Model (LLM) makes…

Aerial vision-language navigation (VLN) requires agents to follow natural-language instructions through closed-loop perception and action in 3D environments. We argue that aerial VLN can be formulated as a prediction-driven world-action…

Autonomous driving systems have made significant advances in Q&A, perception, prediction, and planning based on local visual information, yet they struggle to incorporate broader navigational context that human drivers routinely utilize. We…

Aerial vision-and-language navigation (VLN), requiring drones to interpret natural language instructions and navigate complex urban environments, emerges as a critical embodied AI challenge that bridges human-robot interaction, 3D spatial…

Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…

In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…

The exceptional mobility and long endurance of air-ground robots are raising interest in their usage to navigate complex environments (e.g., forests and large buildings). However, such environments often contain occluded and unknown…