相关论文: Open-Nav: Exploring Zero-Shot Vision-and-Language …

Object goal navigation is a fundamental task in embodied AI, where an agent is instructed to locate a target object in an unexplored environment. Traditional learning-based methods rely heavily on large-scale annotated data or require…

Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to reason about spatial structures. Although human-readable…

Recent developments in vision language models (VLM) have shown great potential for diverse applications related to image understanding. In this study, we have explored state-of-the-art VLM models for vision-based transportation engineering…

Mobile robots operating in human-centered environments must generate not only collision-free paths but also trajectories that follow local behavioral conventions. Conventional costmap-based navigation emphasizes geometric feasibility and…

3D visual grounding is a critical skill for household robots, enabling them to navigate, manipulate objects, and answer questions based on their environment. While existing approaches often rely on extensive labeled data or exhibit…

We propose an architecture for integrating high-level, human-provided safety rules and operator-aligned semantic preferences into autonomous robot navigation in unstructured outdoor environments. In our approach, natural-language rules are…

Vision-language models (VLMs) have excelled in multimodal tasks, but adapting them to embodied decision-making in open-world environments presents challenges. One critical issue is bridging the gap between discrete entities in low-level…

This paper explores the problem of continual learning (CL) of vision-language models (VLMs) in open domains, where the models need to perform continual updating and inference on a streaming of datasets from diverse seen and unseen domains…

Achieving human-level performance in Vision-and-Language Navigation (VLN) requires an embodied agent to jointly understand multimodal instructions and visual-spatial context while reasoning over long action sequences. Recent works, such as…

Vision-and-Language Navigation (VLN) is a challenging task in the field of artificial intelligence. Although massive progress has been made in this task over the past few years attributed to breakthroughs in deep vision and language models,…

We present ConVOI, a novel method for autonomous robot navigation in real-world indoor and outdoor environments using Vision Language Models (VLMs). We employ VLMs in two ways: first, we leverage their zero-shot image classification…

Vision-and-language navigation (VLN) stands as a key research problem of Embodied AI, aiming at enabling agents to navigate in unseen environments following linguistic instructions. In this field, generalization is a long-standing…

Vision-and-Language Navigation (VLN) is a multi-modal, cooperative task requiring agents to interpret human instructions, navigate 3D environments, and communicate effectively under ambiguity. This paper presents a comprehensive review of…

Vision-language models (VLMs) and the recent surge of Multimodal Large Language Models (MLLMs) have revolutionized artificial intelligence with unprecedented cross-modal alignment and zero-shot generalization. However, enabling them to…

Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in complex environments remains challenging due…

This study presents a novel evaluation framework for the Vision-Language Navigation (VLN) task. It aims to diagnose current models for various instruction categories at a finer-grained level. The framework is structured around the…

Vision-language models (VLMs) have shown impressive zero- and few-shot performance on real-world visual question answering (VQA) benchmarks, alluding to their capabilities as visual reasoning engines. However, the benchmarks being used…

Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approaches require substantial amounts of…

Retrained large language models (LLMs) have become extensively used across various sub-disciplines of natural language processing (NLP). In NLP, text classification problems have garnered considerable focus, but still faced with some…

Zero-shot object navigation (ZSON) allows robots to find target objects in unfamiliar environments using natural language instructions, without relying on pre-built maps or task-specific training. Recent general-purpose models, such as…