相关论文: VLPG-Nav: Object Navigation Using Visual Language …

On the off-the-shelf navigational assistance devices, the localization precision is limited to the signal error of global navigation satellite system (GNSS). During travelling outdoors, the inaccurately localization perplexes visually…

Vision-and-Language Navigation (VLN) requires an agent to find a path to a remote location on the basis of natural-language instructions and a set of photo-realistic panoramas. Most existing methods take the words in the instructions and…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a probabilistic planning framework that…

In this work, we propose an open-vocabulary object detection method that, based on image-caption pairs, learns to detect novel object classes along with a given set of known classes. It is a two-stage training approach that first uses a…

Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists, since the knowledge of the environment is a prerequisite for…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…

Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…

While Multimodal Large Language Models (MLLMs) excel at general vision-language tasks, precise coordinate prediction remains a significant challenge, particularly as high-resolution inputs cause visual positional encodings (VPEs) to…

Nowadays robots play an increasingly important role in our daily life. In human-centered environments, robots often encounter piles of objects, packed items, or isolated objects. Therefore, a robot must be able to grasp and manipulate…

Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…

Ensuring accessible pedestrian navigation requires reasoning about both semantic and spatial aspects of complex urban scenes, a challenge that existing Large Vision-Language Models (LVLMs) struggle to meet. Although these models can…

Robots deployed in settings such as warehouses and parking lots must cope with frequent and substantial changes when localizing in their environments. While many previous localization and mapping algorithms have explored methods of…

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs…

3D vision-language (VL) reasoning has gained significant attention due to its potential to bridge the 3D physical world with natural language descriptions. Existing approaches typically follow task-specific, highly specialized paradigms.…

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…

This paper introduces a novel method for determining the best room to place an object in, for embodied scene rearrangement. While state-of-the-art approaches rely on large language models (LLMs) or reinforcement learned (RL) policies for…

Inspired by the success of vision-language methods (VLMs) in zero-shot classification, recent works attempt to extend this line of work into object detection by leveraging the localization ability of pre-trained VLMs and generating pseudo…

Vision-and-language navigation (VLN) is a long-standing challenge in autonomous robotics, aiming to empower agents with the ability to follow human instructions while navigating complex environments. Two key bottlenecks remain in this…

Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…