相关论文: $A^2$Nav: Action-Aware Zero-Shot Robot Navigation …

We present VLMnav, an embodied framework to transform a Vision-Language Model (VLM) into an end-to-end navigation policy. In contrast to prior work, we do not rely on a separation between perception, planning, and control; instead, we use a…

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…

We present DyNaVLM, an end-to-end vision-language navigation framework using Vision-Language Models (VLM). In contrast to prior methods constrained by fixed angular or distance intervals, our system empowers agents to freely select…

We introduce an innovative approach to advancing semantic understanding in zero-shot object goal navigation (ZS-OGN), enhancing the autonomy of robots in unfamiliar environments. Traditional reliance on labeled data has been a limitation…

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…

Vision-and-Language Navigation (VLN) is a task where an agent navigates in an embodied indoor environment under human instructions. Previous works ignore the distribution of sample difficulty and we argue that this potentially degrade their…

Conventional approaches to vision-and-language navigation (VLN) are trained end-to-end but struggle to perform well in freely traversable environments. Inspired by the robotics community, we propose a modular approach to VLN using…

Vision-and-language navigation (VLN) is a trending topic which aims to navigate an intelligent agent to an expected position through natural language instructions. This work addresses the task of VLN from a previously-ignored aspect, namely…

Understanding and following natural language instructions while navigating through complex, real-world environments poses a significant challenge for general-purpose robots. These environments often include obstacles and pedestrians, making…

Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…

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…

In vision-and-language navigation (VLN), an embodied agent is required to navigate in realistic 3D environments following natural language instructions. One major bottleneck for existing VLN approaches is the lack of sufficient training…

Aerial Vision-and-Language Navigation (VLN) is a novel task enabling Unmanned Aerial Vehicles (UAVs) to navigate in outdoor environments through natural language instructions and visual cues. However, it remains challenging due to the…

Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to reason about spatial structures. Although human-readable…

UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over long horizons. Existing zero-shot methods remain limited, as…

Vision-Language Navigation (VLN) aims to enable agents to navigate to a target location based on language instructions. Traditional VLN often follows a close-set assumption, i.e., training and test data share the same style of the input…

Bridging the gap between natural language commands and autonomous execution in unstructured environments remains an open challenge for robotics. This requires robots to perceive and reason over the current task scene through multiple…

The Zero-Shot Object Navigation (ZSON) task requires embodied agents to find a previously unseen object by navigating in unfamiliar environments. Such a goal-oriented exploration heavily relies on the ability to perceive, understand, and…

In the Vision-and-Language Navigation (VLN) task an embodied agent navigates a 3D environment, following natural language instructions. A challenge in this task is how to handle 'off the path' scenarios where an agent veers from a reference…

Zero-Shot Learning (ZSL) promises to scale visual recognition by bypassing the conventional model training requirement of annotated examples for every category. This is achieved by establishing a mapping connecting low-level features and a…