相关论文: Multimodal LLM Guided Exploration and Active Mappi…

Designing autonomous driving systems requires efficient exploration of large hardware/software configuration spaces under diverse environmental conditions, e.g., with varying traffic, weather, and road layouts. Traditional design space…

We introduce a multicrossmodal LLM-agent framework motivated by the growing volume and diversity of materials-science data ranging from high-resolution microscopy and dynamic simulation videos to tabular experiment logs and sprawling…

We propose Point2Act, which directly retrieves the 3D action point relevant to a contextually described task, leveraging Multimodal Large Language Models (MLLMs). Foundation models opened the possibility for generalist robots that can…

This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate and visually plausible representations of the environment.…

Handling the dynamic environments is a significant research challenge in Visual Simultaneous Localization and Mapping (SLAM). Recent research combines 3D Gaussian Splatting (3DGS) with SLAM to achieve both robust camera pose estimation and…

This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…

Robotic agents must master common sense and long-term sequential decisions to solve daily tasks through natural language instruction. The developments in Large Language Models (LLMs) in natural language processing have inspired efforts to…

Instruction-tuned large language models (LLMs) have demonstrated promising zero-shot generalization capabilities across various downstream tasks. Recent research has introduced multimodal capabilities to LLMs by integrating independently…

Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…

Multimodal large language models (MLLMs) have enabled GUI agents to interact with operating systems by grounding language into spatial actions. Despite their promising performance, these models frequently exhibit hallucinations-systematic…

In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…

Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…

Localization and mapping are critical tasks for various applications such as autonomous vehicles and robotics. The challenges posed by outdoor environments present particular complexities due to their unbounded characteristics. In this…

Large language models (LLMs) have shown remarkable advancements in enabling language agents to tackle simple tasks. However, applying them for complex, multi-step, long-horizon tasks remains a challenge. Recent work have found success by…

Recent advancements in 3D generation models have opened new possibilities for simulating dynamic 3D object movements and customizing behaviors, yet creating this content remains challenging. Current methods often require manual assignment…

Embodied agents equipped with GPT as their brains have exhibited extraordinary decision-making and generalization abilities across various tasks. However, existing zero-shot agents for vision-and-language navigation (VLN) only prompt GPT-4…

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…

Chart summarization is crucial for enhancing data accessibility and the efficient consumption of information. However, existing methods, including those with Multimodal Large Language Models (MLLMs), primarily focus on low-level data…

Participatory urban sensing leverages human mobility for large-scale urban data collection, yet existing methods typically rely on centralized optimization and assume homogeneous participants, resulting in rigid assignments that overlook…

Vision-language models (VLMs) have demonstrated impressive zero-shot transfer capabilities in image-level visual perception tasks. However, they fall short in 3D instance-level segmentation tasks that require accurate localization and…