相关论文: A Landmark-Aware Visual Navigation Dataset

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

Constructing HD semantic maps is a central component of autonomous driving. However, traditional pipelines require a vast amount of human efforts and resources in annotating and maintaining the semantics in the map, which limits its…

Understanding spatial and visual information is essential for a navigation agent who follows natural language instructions. The current Transformer-based VLN agents entangle the orientation and vision information, which limits the gain from…

While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a…

Vision-Language Navigation (VLN) tasks require an agent to follow human language instructions to navigate in previously unseen environments. This challenging field involving problems in natural language processing, computer vision,…

State-of-the-art navigation methods leverage a spatial memory to generalize to new environments, but their occupancy maps are limited to capturing the geometric structures directly observed by the agent. We propose occupancy anticipation,…

Vision-and-Language Navigation (VLN) is the task that requires an agent to navigate through the environment based on natural language instructions. At each step, the agent takes the next action by selecting from a set of navigable…

We introduce the Lecture Video Visual Objects (LVVO) dataset, a new benchmark for visual object detection in educational video content. The dataset consists of 4,000 frames extracted from 245 lecture videos spanning biology, computer…

We present the Semantics-aware Dataset and Benchmark Generation Pipeline for Open-vocabulary Object Navigation in Dynamic Scenes (SD-OVON). It utilizes pretraining multimodal foundation models to generate infinite unique photo-realistic…

Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…

We study language-conditioned visual navigation (LCVN), in which an embodied agent is asked to follow a natural language instruction based only on an initial egocentric observation. Without access to goal images, the agent must rely on…

While commendable progress has been made in user-centric research on mobile assistive systems for blind and low-vision (BLV) individuals, references that directly inform robot navigation design remain rare. To bridge this gap, we conducted…

Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…

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…

Vision-and-language navigation is one of the core tasks in embodied intelligence, requiring an agent to autonomously navigate in an unfamiliar environment based on natural language instructions. However, existing methods often fail to match…

To navigate safely and efficiently in crowded spaces, robots should not only perceive the current state of the environment but also anticipate future human movements. In this paper, we propose a reinforcement learning architecture, namely…

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…

In the burgeoning field of autonomous vehicles (AVs), trajectory prediction remains a formidable challenge, especially in mixed autonomy environments. Traditional approaches often rely on computational methods such as time-series analysis.…