相关论文: Select2Plan: Training-Free ICL-Based Planning thro…

Data selection in instruction tuning emerges as a pivotal process for acquiring high-quality data and training instruction-following large language models (LLMs), but it is still a new and unexplored research area for vision-language models…

The integration of language instructions with robotic control, particularly through Vision Language Action (VLA) models, has shown significant potential. However, these systems are often hindered by high computational costs, the need for…

Vision-and-Language Navigation (VLN) poses significant challenges for agents to interpret natural language instructions and navigate complex 3D environments. While recent progress has been driven by large-scale pre-training and data…

Recent advances in foundational Vision Language Models (VLMs) have reshaped the evaluation paradigm in computer vision tasks. These foundational models, especially CLIP, have accelerated research in open-vocabulary computer vision tasks,…

Motion planning of autonomous agents in partially known environments with incomplete information is a challenging problem, particularly for complex tasks. This paper proposes a model-free reinforcement learning approach to address this…

Automating the generation of Planning Domain Definition Language (PDDL) with Large Language Model (LLM) opens new research topic in AI planning, particularly for complex real-world tasks. This paper introduces Image2PDDL, a novel framework…

Vision-and-Language Navigation (VLN) presents a complex challenge in embodied AI, requiring agents to interpret natural language instructions and navigate through visually rich, unfamiliar environments. Recent advances in large…

Large-scale Visual Instruction Tuning (VIT) has become a key paradigm for advancing the performance of vision-language models (VLMs) across various multimodal tasks. However, training on the large-scale datasets is computationally expensive…

Recent advancements in Large Language Models (LLMs) and their multimodal extensions (MLLMs) have substantially enhanced machine reasoning across diverse tasks. However, these models predominantly rely on pure text as the medium for both…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Conventional approaches to vision-and-language navigation (VLN) are trained end-to-end but struggle to perform well in freely traversable environments. Inspired by the robotics community, we propose a modular approach to VLN using…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Traditional approaches to off-road autonomy rely on separate models for terrain classification, height estimation, and quantifying slip or slope conditions. Utilizing several models requires training each component separately, having task…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Visual token pruning is a promising approach for reducing the computational cost of vision-language models (VLMs), and existing methods often rely on early pruning decisions to improve efficiency. While effective on coarse-grained reasoning…

With recent progress in joint modeling of visual and textual representations, Vision-Language Pretraining (VLP) has achieved impressive performance on many multimodal downstream tasks. However, the requirement for expensive annotations…

In the Vision-and-Language Navigation (VLN) task, the agent is required to navigate to a destination following a natural language instruction. While learning-based approaches have been a major solution to the task, they suffer from high…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Model-free learning-based control methods have recently shown significant advantages over traditional control methods in avoiding complex vehicle characteristic estimation and parameter tuning. As a primary policy learning method, imitation…