相关论文: Into the Unknown: Generating Geospatial Descriptio…

We investigate how a neural network can learn perception actions loops for navigation in unknown environments. Specifically, we consider how to learn to navigate in environments populated with cul-de-sacs that represent convex local minima…

We present a novel approach to automatically synthesize "wayfinding instructions" for an embodied robot agent. In contrast to prior approaches that are heavily reliant on human-annotated datasets designed exclusively for specific simulation…

In recent years, efforts have been made to use text information for better user profiling and item characterization in recommendations. However, text information can sometimes be of low quality, hindering its effectiveness for real-world…

Street-level geolocalization from images is crucial for a wide range of essential applications and services, such as navigation, location-based recommendations, and urban planning. With the growing popularity of social media data and…

Vision-and-language navigation (VLN) is the task to enable an embodied agent to navigate to a remote location following the natural language instruction in real scenes. Most of the previous approaches utilize the entire features or…

Large language models (LLMs) have shown superior performance without task-specific fine-tuning. Despite the success, the knowledge stored in the parameters of LLMs could still be incomplete and difficult to update due to the computational…

Recent advances in Large Language Models (LLMs) have demonstrated strong capabilities in tasks such as code and mathematics. However, their potential to internalize structured spatial knowledge remains underexplored. This study investigates…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

We propose a method to fuse frozen text-only large language models (LLMs) with pre-trained image encoder and decoder models, by mapping between their embedding spaces. Our model demonstrates a wide suite of multimodal capabilities: image…

Navigating robots through unstructured terrains is challenging, primarily due to the dynamic environmental changes. While humans adeptly navigate such terrains by using context from their observations, creating a similar context-aware…

Plane Geometry Problem Solving (PGPS) is a multimodal reasoning task that aims to solve a plane geometric problem based on a geometric diagram and problem textual descriptions. Although Large Language Models (LLMs) possess strong reasoning…

Safe UAV emergency landing requires more than just identifying flat terrain; it demands understanding complex semantic risks (e.g., crowds, temporary structures) invisible to traditional geometric sensors. In this paper, we propose a novel…

With the recent progress in large-scale vision and language representation learning, Vision Language Pre-training (VLP) models have achieved promising improvements on various multi-modal downstream tasks. Albeit powerful, these models have…

Scene Graph Generation (SGG) encodes visual relationships between objects in images as graph structures. Thanks to the advances of Vision-Language Models (VLMs), the task of Open-Vocabulary SGG has been recently proposed where models 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…

Vision-Language Navigation (VLN) aims to enable agents to navigate to a target location based on language instructions. Traditional VLN often follows a close-set assumption, i.e., training and test data share the same style of the input…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

Large Language Models (LLMs) have demonstrated unprecedented capabilities across various natural language processing tasks. Their ability to process and generate viable text and code has made them ubiquitous in many fields, while their…

In the Vision-and-Language Navigation (VLN) task, an agent with egocentric vision navigates to a destination given natural language instructions. The act of manually annotating these instructions is timely and expensive, such that many…

Combining Large Language Models (LLMs) with Reinforcement Learning (RL) enables agents to interpret language instructions more effectively for task execution. However, LLMs typically lack direct perception of the physical environment, which…