相关论文: Vision-and-Language Navigation via Causal Learning

Although large language models (LLMs) are introduced into vision-and-language navigation (VLN) to improve instruction comprehension and generalization, existing LLM- based VLN lacks the ability to selectively recall and use relevant priori…

The dual-stream transformer architecture-based joint audio-video generation method has become the dominant paradigm in current research. By incorporating pre-trained video diffusion models and audio diffusion models, along with a…

Pretrained vision-and-language BERTs aim to learn representations that combine information from both modalities. We propose a diagnostic method based on cross-modal input ablation to assess the extent to which these models actually…

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…

A core challenge in AI-guided autonomy is enabling agents to navigate realistically and effectively in previously unseen environments based on natural language commands. We propose UAV-VLN, a novel end-to-end Vision-Language Navigation…

Vision-dialog navigation posed as a new holy-grail task in vision-language disciplinary targets at learning an agent endowed with the capability of constant conversation for help with natural language and navigating according to human…

Vision-and-Language Navigation (VLN) tasks require an agent to follow textual instructions to navigate through 3D environments. Traditional approaches use supervised learning methods, relying heavily on domain-specific datasets to train VLN…

Recently, learning-based approaches show promising results in navigation tasks. However, the poor generalization capability and the simulation-reality gap prevent a wide range of applications. We consider the problem of improving the…

Visual language navigation (VLN) is an embodied task demanding a wide range of skills encompassing understanding, perception, and planning. For such a multifaceted challenge, previous VLN methods totally rely on one model's own thinking to…

We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…

Training-free Vision-Language Navigation (VLN) agents powered by foundation models can follow instructions and explore 3D environments. However, existing approaches rely on greedy frontier selection and passive spatial memory, leading to…

Most recent work in goal oriented visual navigation resorts to large-scale machine learning in simulated environments. The main challenge lies in learning compact representations generalizable to unseen environments and in learning…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Unlike traditional vision-only models, vision language models (VLMs) offer an intuitive way to access visual content through language prompting by combining a large language model (LLM) with a vision encoder. However, both the LLM and the…

Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations…

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…

Vision-Language Navigation (VLN) is a challenging task that requires an embodied agent to perform action-level modality alignment, i.e., make instruction-asked actions sequentially in complex visual environments. Most existing VLN agents…

Vision-and-Language Navigation (VLN) tasks mainly evaluate agents based on one-time execution of individual instructions across multiple environments, aiming to develop agents capable of functioning in any environment in a zero-shot manner.…

Vision-language models (VLMs) have significantly improved the generalization capabilities of robotic manipulation. However, VLM-based systems often suffer from a lack of robustness, leading to unpredictable errors, particularly in scenarios…

Humans use their knowledge of common house layouts obtained from previous experiences to predict nearby rooms while navigating in new environments. This greatly helps them navigate previously unseen environments and locate their target…