相关论文: Loc4Plan: Locating Before Planning for Outdoor Vis…
Vision-and-Language Navigation requires an embodied agent to navigate through unseen environments, guided by natural language instructions and a continuous video stream. Recent advances in VLN have been driven by the powerful semantic…
VLN-CE is a recently released embodied task, where AI agents need to navigate a freely traversable environment to reach a distant target location, given language instructions. It poses great challenges due to the huge space of possible…
Natural language instructions for visual navigation often use scene descriptions (e.g., "bedroom") and object references (e.g., "green chairs") to provide a breadcrumb trail to a goal location. This work presents a transformer-based…
Robots should exist anywhere humans do: indoors, outdoors, and even unmapped environments. In contrast, the focus of recent advancements in Object Goal Navigation(OGN) has targeted navigating in indoor environments by leveraging spatial and…
Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human commands and execute long-horizon tasks in…
Vision language navigation is the task that requires an agent to navigate through a 3D environment based on natural language instructions. One key challenge in this task is to ground instructions with the current visual information that the…
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…
The challenging task of Vision-and-Language Navigation (VLN) requires embodied agents to follow natural language instructions to reach a goal location or object (e.g. `walk down the hallway and turn left at the piano'). For agents to…
To be successful, Vision-and-Language Navigation (VLN) agents must be able to ground instructions to actions based on their surroundings. In this work, we develop a methodology to study agent behavior on a skill-specific basis -- examining…
Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…
Vision-and-Language Navigation (VLN) aims to enable an embodied agent to follow natural-language instructions and navigate to a target location in unseen 3D environments. We argue that adapting VLMs to VLN requires endowing them with two…
Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…
We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has…
Vision-and-language navigation (VLN) is a task in which an agent is embodied in a realistic 3D environment and follows an instruction to reach the goal node. While most of the previous studies have built and investigated a discriminative…
Language understanding is essential for the navigation agent to follow instructions. We observe two kinds of issues in the instructions that can make the navigation task challenging: 1. The mentioned landmarks are not recognizable by the…
In the Vision-and-Language Navigation (VLN) task an embodied agent navigates a 3D environment, following natural language instructions. A challenge in this task is how to handle 'off the path' scenarios where an agent veers from a reference…
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…
Vision-Language Navigation (VLN) requires agents to follow natural language instructions in partially observed 3D environments, motivating map representations that aggregate spatial context beyond local perception. However, most existing…
Vision-language navigation is a task that requires an agent to follow instructions to navigate in environments. It becomes increasingly crucial in the field of embodied AI, with potential applications in autonomous navigation, search and…
Semantic reasoning and dynamic planning capabilities are crucial for an autonomous agent to perform complex navigation tasks in unknown environments. It requires a large amount of common-sense knowledge, that humans possess, to succeed in…