相关论文: End-to-End Navigation with Vision Language Models:…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

Although vision-language navigation (VLN) has progressed rapidly, zero-shot VLN in continuous environments (VLN-CE) remains highly challenging when using lightweight vision-language models (VLMs), whose limited reasoning capacity makes…

End-to-end autonomous driving has drawn tremendous attention recently. Many works focus on using modular deep neural networks to construct the end-to-end archi-tecture. However, whether using powerful large language models (LLM), especially…

Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…

Breakthrough progress in vision-based navigation through unknown environments has been achieved by using multimodal large language models (MLLMs). These models can plan a sequence of motions by evaluating the current view at each time step…

We explore the use of language as a perceptual representation for vision-and-language navigation (VLN), with a focus on low-data settings. Our approach uses off-the-shelf vision systems for image captioning and object detection to convert…

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…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…

Vision-language models (VLMs) have emerged as a promising direction for end-to-end autonomous driving (AD) by jointly modeling visual observations, driving context, and language-based reasoning. However, existing VLM-based systems face a…

Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…

A navigable agent needs to understand both high-level semantic instructions and precise spatial perceptions. Building navigation agents centered on Multimodal Large Language Models (MLLMs) demonstrates a promising solution due to their…

Following human instructions to explore and search for a specified target in an unfamiliar environment is a crucial skill for mobile service robots. Most of the previous works on object goal navigation have typically focused on a single…

Zero-shot navigation is a critical challenge in Vision-Language Navigation (VLN) tasks, where the ability to adapt to unfamiliar instructions and to act in unknown environments is essential. Existing supervised learning-based models,…

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…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

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…

End-to-end learning directly maps sensory inputs to actions, creating highly integrated and efficient policies for complex robotics tasks. However, such models often struggle to generalize beyond their training scenarios, limiting…

We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…

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…