相关论文: CoNVOI: Context-aware Navigation using Vision Lang…

Indoor navigation remains a complex challenge due to the absence of reliable GPS signals and the architectural intricacies of large enclosed environments. This study presents an indoor localization and navigation approach that integrates…

We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…

The use of Large Language Models (LLMs) for generating Behavior Trees (BTs) has recently gained attention in the robotics community, yet remains in its early stages of development. In this paper, we propose a novel framework that leverages…

Recent developments in vision language models (VLM) have shown great potential for diverse applications related to image understanding. In this study, we have explored state-of-the-art VLM models for vision-based transportation engineering…

Robots must adapt to diverse human instructions and operate safely in unstructured, open-world environments. Recent Vision-Language models (VLMs) offer strong priors for grounding language and perception, but remain difficult to steer for…

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…

This paper investigates the potential of vision-language models (VLMs) to assist people with blindness and low vision (pBLV) in navigation tasks. We evaluate state-of-the-art closed-source models, including GPT-4V, GPT-4o, Gemini-1.5-Pro,…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…

Vision Language Models (VLMs) play a crucial role in robotic manipulation by enabling robots to understand and interpret the visual properties of objects and their surroundings, allowing them to perform manipulation based on this multimodal…

Real-time, accurate prediction of human steering behaviors has wide applications, from developing intelligent traffic systems to deploying autonomous driving systems in both real and simulated worlds. In this paper, we present ContextVAE, a…

Vision-language navigation (VLN) requires intelligent agents to navigate environments by interpreting linguistic instructions alongside visual observations, serving as a cornerstone task in Embodied AI. Current VLN research for unmanned…

We propose an architecture for integrating high-level, human-provided safety rules and operator-aligned semantic preferences into autonomous robot navigation in unstructured outdoor environments. In our approach, natural-language rules are…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…

We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…

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…

Indoor mobile robot navigation requires fast responsiveness and robust semantic understanding, yet existing methods struggle to provide both. Classical geometric approaches such as SLAM offer reliable localization but depend on detailed…

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…

Vision language models (VLMs) can simultaneously reason about images and texts to tackle many tasks, from visual question answering to image captioning. This paper focuses on map parsing, a novel task that is unexplored within the VLM…

Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…

Recently, Vision Language Models (VLMs) have experienced significant advancements, yet these models still face challenges in spatial hierarchical reasoning within indoor scenes. In this study, we introduce ROOT, a VLM-based system designed…