相关论文: Words to Wheels: Vision-Based Autonomous Driving U…

Recent advancements in foundation models (FMs) have unlocked new prospects in autonomous driving, yet the experimental settings of these studies are preliminary, over-simplified, and fail to capture the complexity of real-world driving…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

Autonomous landing is essential for drones deployed in emergency deliveries, post-disaster response, and other large-scale missions. By enabling self-docking on charging platforms, it facilitates continuous operation and significantly…

Motion prediction is among the most fundamental tasks in autonomous driving. Traditional methods of motion forecasting primarily encode vector information of maps and historical trajectory data of traffic participants, lacking a…

Unmanned aerial vehicles (UAVs) have emerged as powerful embodied agents. One of the core abilities is autonomous navigation in large-scale three-dimensional environments. Existing navigation policies, however, are typically optimized for…

Achieving full automation in self-driving vehicles remains a challenge, especially in dynamic urban environments where navigation requires real-time adaptability. Existing systems struggle to handle navigation plans when faced with…

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…

With the recent emergence of foundation models trained on internet-scale data and demonstrating remarkable generalization capabilities, such foundation models have become more widely adopted, leading to an expanding range of application…

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…

Trajectory planning is a fundamental yet challenging component of autonomous driving. End-to-end planners frequently falter under adverse weather, unpredictable human behavior, or complex road layouts, primarily because they lack strong…

Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's…

UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over long horizons. Existing zero-shot methods remain limited, as…

We present DyNaVLM, an end-to-end vision-language navigation framework using Vision-Language Models (VLM). In contrast to prior methods constrained by fixed angular or distance intervals, our system empowers agents to freely select…

Instruction-grounded driving, where passenger language guides trajectory planning, requires vehicles to understand intent before motion. However, most prior instruction-following planners rely on simulation or fixed command vocabularies,…

Humans have the remarkable ability to navigate through unfamiliar environments by solely relying on our prior knowledge and descriptions of the environment. For robots to perform the same type of navigation, they need to be able to…

Driving in safety-critical scenarios requires quick, context-aware decision-making grounded in both situational understanding and experiential reasoning. Large Language Models (LLMs), with their powerful general-purpose reasoning…

The ability to connect language units to their referents in the physical world, referred to as grounding, is crucial to learning and understanding grounded meanings of words. While humans demonstrate fast mapping in new word learning, it…

Vision-Language Models (VLMs) have shown great success as foundational models for downstream vision and natural language applications in a variety of domains. However, these models are limited to reasoning over objects and actions currently…

With the powerful reasoning capabilities of large language models (LLMs) and vision-language models (VLMs), many recent works have explored using them for decision-making. However, most of these approaches rely solely on language-based…

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…