相关论文: Balancing Performance and Efficiency in Zero-shot …

Open-world navigation requires robots to make decisions in complex everyday environments while adapting to flexible task requirements. Conventional navigation approaches often rely on dense 3D reconstruction and hand-crafted goal metrics,…

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…

The zero-shot object navigation (ZSON) in unknown open-ended environments coupled with semantically novel target often suffers from the significant decline in performance due to the neglect of high-dimensional implicit scene information and…

Vision-Language Models (VLMs) have emerged as the dominant approach for zero-shot recognition, adept at handling diverse scenarios and significant distribution changes. However, their deployment in risk-sensitive areas requires a deeper…

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,…

Vision-Language Foundation Models (VLFMs) have made remarkable progress on various multimodal tasks, such as image captioning, image-text retrieval, visual question answering, and visual grounding. However, most methods rely on training…

This paper presents novel benchmarks for evaluating vision-language models (VLMs) in zero-shot recognition, focusing on granularity and specificity. Although VLMs excel in tasks like image captioning, they face challenges in open-world…

We present VLMnav, an embodied framework to transform a Vision-Language Model (VLM) into an end-to-end navigation policy. In contrast to prior work, we do not rely on a separation between perception, planning, and control; instead, we use a…

The real world is messy and unstructured. Uncovering critical information often requires active, goal-driven exploration. It remains to be seen whether Vision-Language Models (VLMs), which recently emerged as a popular zero-shot tool in…

Autonomous navigation under natural language instructions represents a crucial step toward embodied intelligence, enabling complex task execution in environments ranging from industrial facilities to domestic spaces. However,…

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…

Commanding a robot to navigate with natural language instructions is a long-term goal for grounded language understanding and robotics. But the dominant language is English, according to previous studies on vision-language navigation (VLN).…

Analysis of state-of-the-art VO/VSLAM system exposes a gap in balancing performance (accuracy & robustness) and efficiency (latency). Feature-based systems exhibit good performance, yet have higher latency due to explicit data association;…

This paper presents VisLingInstruct, a novel approach to advancing Multi-Modal Language Models (MMLMs) in zero-shot learning. Current MMLMs show impressive zero-shot abilities in multi-modal tasks, but their performance depends heavily on…

In open-vocabulary mobile manipulation (OVMM), task success often hinges on the selection of an appropriate base placement for the robot. Existing approaches typically navigate to proximity-based regions without considering affordances,…

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…

Recent advances in Vision-and-Language Navigation in Continuous Environments (VLN-CE) have leveraged multimodal large language models (MLLMs) to achieve zero-shot navigation. However, existing methods often rely on panoramic observations…

Despite recent advances demonstrating vision-language models' (VLMs) abilities to describe complex relationships in images using natural language, their capability to quantitatively reason about object sizes and distances remains…

While specialized learning-based models have historically dominated image privacy prediction, the current literature increasingly favours adopting large Vision-Language Models (VLMs) designed for generic tasks. This trend risks overlooking…

Remote sensing has become a vital tool across sectors such as urban planning, environmental monitoring, and disaster response. While the volume of data generated has increased significantly, traditional vision models are often constrained…