相关论文: Fast-Slow Test-Time Adaptation for Online Vision-a…

Vision-and-Language Navigation (VLN) poses significant challenges for agents to interpret natural language instructions and navigate complex 3D environments. While recent progress has been driven by large-scale pre-training and data…

Deep networks that rely on prototypes-interpretable representations that can be related to the model input-have gained significant attention for balancing high accuracy with inherent interpretability, which makes them suitable for critical…

The rapid success of Vision Large Language Models (VLLMs) often depends on the high-resolution images with abundant visual tokens, which hinders training and deployment efficiency. Current training-free visual token compression methods…

Generalization remains a core challenge in embodied AI, as robots must adapt to diverse environments. While OpenVLA represents the State-of-the-Art (SOTA) in Vision-Language-Action models by leveraging large-scale pre-training, its…

Prompt tuning (PT) has long been recognized as an effective and efficient paradigm for transferring large pre-trained vision-language models (VLMs) to downstream tasks by learning a tiny set of context vectors. Nevertheless, in this work,…

Vision-and-language navigation (VLN), a frontier study aiming to pave the way for general-purpose robots, has been a hot topic in the computer vision and natural language processing community. The VLN task requires an agent to navigate to a…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…

We investigate the Vision-and-Language Navigation (VLN) problem in the context of autonomous driving in outdoor settings. We solve the problem by explicitly grounding the navigable regions corresponding to the textual command. At each…

Vision-and-Language Navigation (VLN) aims to enable an embodied agent to follow natural-language instructions and navigate to a target location in unseen 3D environments. We argue that adapting VLMs to VLN requires endowing them with two…

Vision-Language-Action (VLA) models have demonstrated strong potential for predicting semantic actions in navigation tasks, demonstrating the ability to reason over complex linguistic instructions and visual contexts. However, they are…

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods…

Large Language Models (LLMs) have opened transformative possibilities for human-robot collaboration. However, enabling real-time collaboration requires both low latency and robust reasoning, and most LLMs suffer from high latency. To…

This paper addresses the challenge of fine-grained alignment in Vision-and-Language Navigation (VLN) tasks, where robots navigate realistic 3D environments based on natural language instructions. Current approaches use contrastive learning…

Although reinforcement learning methods can achieve impressive results in simulation, the real world presents two major challenges: generating samples is exceedingly expensive, and unexpected perturbations or unseen situations cause…

While vision-language-action (VLA) models for embodied agents integrate perception, reasoning, and control, they remain constrained by two critical weaknesses: first, during grasping tasks, the action tokens generated by the language model…

Vision-language models (VLMs) such as CLIP demonstrate strong performance but struggle when adapted to downstream tasks. Prompt learning has emerged as an efficient and effective strategy to adapt VLMs while preserving their pre-trained…

Vision-and-Language Navigation (VLN) task aims to enable AI agents to accurately understand and follow natural language instructions to navigate through real-world environments, ultimately reaching specific target locations. We recognise a…

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…

Ensemble methods improve predictive performance but often incur high memory and computational costs. We identify an aggregation instability induced by nonlinear projection and voting operations. To address both efficiency challenges and…

Embodied navigation requires robots to understand and interact with the environment based on given tasks. Vision-Language Navigation (VLN) is an embodied navigation task, where a robot navigates within a previously seen and unseen…