相关论文: GridMM: Grid Memory Map for Vision-and-Language Na…

The increasingly complex and diverse planetary exploration environment requires more adaptable and flexible rover navigation strategy. In this study, we propose a VLM-empowered multi-mode system to achieve efficient while safe autonomous…

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…

Data scarcity is a long-standing challenge in the Vision-Language Navigation (VLN) field, which extremely hinders the generalization of agents to unseen environments. Previous works primarily rely on additional simulator data or…

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

Object Goal Navigation (OGN) is a fundamental task for robots and AI, with key applications such as mobile robot image databases (MRID). In particular, mapless OGN is essential in scenarios involving unknown or dynamic environments. This…

Autonomous robotic exploration of unknown and hazardous environments, a long-standing challenge, can be significantly improved by leveraging the advanced reasoning of Vision-Language Models (VLMs). We introduce a novel exploration pipeline…

Natural language instructions for visual navigation often use scene descriptions (e.g., "bedroom") and object references (e.g., "green chairs") to provide a breadcrumb trail to a goal location. This work presents a transformer-based…

Spatial reasoning is a fundamental aspect of human cognition, enabling intuitive understanding and manipulation of objects in three-dimensional space. While foundation models demonstrate remarkable performance on some benchmarks, they still…

We introduce Room-Across-Room (RxR), a new Vision-and-Language Navigation (VLN) dataset. RxR is multilingual (English, Hindi, and Telugu) and larger (more paths and instructions) than other VLN datasets. It emphasizes the role of language…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

Vision-and-Language Navigation (VLN) in real-world settings requires agents to process continuous visual streams and generate actions with low latency grounded in language instructions. While Video-based Large Language Models (Video-LLMs)…

Vision-Language Models (VLMs) are powerful open-set reasoners, yet their direct use as anomaly detectors in video surveillance is fragile: without calibrated anomaly priors, they alternate between missed detections and hallucinated false…

Point goal navigation (PGN) is a mapless navigation approach that trains robots to visually navigate to goal points without relying on pre-built maps. Despite significant progress in handling complex environments using deep reinforcement…

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…

Integrating large language models (LLMs) into embodied AI models is becoming increasingly prevalent. However, existing zero-shot LLM-based Vision-and-Language Navigation (VLN) agents either encode images as textual scene descriptions,…

Vision-and-Language Navigation (VLN) has gained increasing attention over recent years and many approaches have emerged to advance their development. The remarkable achievements of foundation models have shaped the challenges and proposed…

In this paper, we propose a training-free framework for vision-and-language navigation (VLN). Existing zero-shot VLN methods are mainly designed for discrete environments or involve unsupervised training in continuous simulator…

Current Vision-and-Language Navigation (VLN) tasks mainly employ textual instructions to guide agents. However, being inherently abstract, the same textual instruction can be associated with different visual signals, causing severe…

Data privacy is a central problem for embodied agents that can perceive the environment, communicate with humans, and act in the real world. While helping humans complete tasks, the agent may observe and process sensitive information of…

Humans use their knowledge of common house layouts obtained from previous experiences to predict nearby rooms while navigating in new environments. This greatly helps them navigate previously unseen environments and locate their target…