相关论文: Advancing Object Goal Navigation Through LLM-enhan…

Large Language Models (LLMs) increasingly incorporate multilingual capabilities, fueling the demand to transfer them into target language-specific models. However, most approaches, which blend the source model's embedding by replacing the…

Combining multiple object detection datasets offers a path to improved generalisation but is hindered by inconsistencies in class semantics and bounding box annotations. Some methods to address this assume shared label taxonomies and…

LVLMs have been shown to perform excellently in image-level tasks such as VQA and caption. However, in many instance-level tasks, such as visual grounding and object detection, LVLMs still show performance gaps compared to previous expert…

Trained with an unprecedented scale of data, large language models (LLMs) like ChatGPT and GPT-4 exhibit the emergence of significant reasoning abilities from model scaling. Such a trend underscored the potential of training LLMs with…

Navigation is one of the fundamental tasks for automated exploration in Virtual Reality (VR). Existing technologies primarily focus on path optimization in 360-degree image datasets and 3D simulators, which cannot be directly applied to…

Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real…

In this paper, we present LOC-ZSON, a novel Language-driven Object-Centric image representation for object navigation task within complex scenes. We propose an object-centric image representation and corresponding losses for visual-language…

Visual navigation typically assumes the existence of at least one obstacle-free path between start and goal, which must be discovered/planned by the robot. However, in real-world scenarios, such as home environments and warehouses, clutter…

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…

Pre-trained vision-language models (VLMs) have shown impressive results in various visual classification tasks. However, we often fail to fully unleash their potential when adapting them for new concept understanding due to limited…

Open-Vocabulary Multi-Label Recognition (OV-MLR) aims to identify multiple seen and unseen object categories within an image, requiring both precise intra-class localization to pinpoint objects and effective inter-class reasoning to model…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

Deployable service and delivery robots struggle to navigate multi-floor buildings to reach object goals, as existing systems fail due to single-floor assumptions and requirements for offline, globally consistent maps. Multi-floor…

Most existing multi-object tracking methods typically learn visual tracking features via maximizing dis-similarities of different instances and minimizing similarities of the same instance. While such a feature learning scheme achieves…

Large language models (LLMs) have emerged as powerful and general solutions to many natural language tasks. However, many of the most important applications of language generation are interactive, where an agent has to talk to a person to…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such as point-clouds and meshes, with natural language-based…

In this paper, we propose a general framework for universal zero-shot goal-oriented navigation. Existing zero-shot methods build inference framework upon large language models (LLM) for specific tasks, which differs a lot in overall…

We present a scalable approach for learning open-world object-goal navigation (ObjectNav) -- the task of asking a virtual robot (agent) to find any instance of an object in an unexplored environment (e.g., "find a sink"). Our approach is…

This work studies object goal navigation task, which involves navigating to the closest object related to the given semantic category in unseen environments. Recent works have shown significant achievements both in the end-to-end…