相关论文: IRef-VLA: A Benchmark for Interactive Referential …

Teaching robots dexterous skills from human videos remains challenging due to the reliance on low-level trajectory imitation, which fails to generalize across object types, spatial layouts, and manipulator configurations. We propose…

Recent advancements in 3D Large Language Models (LLMs) have demonstrated promising capabilities for 3D scene understanding. However, previous methods exhibit deficiencies in general referencing and grounding capabilities for intricate scene…

Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…

Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for generalist robotic control. Built upon vision-language model (VLM) architectures, VLAs predict actions conditioned on visual observations and language…

Scene understanding in remote sensing often faces challenges in generating accurate representations for complex environments such as various land use areas or coastal regions, which may also include snow, clouds, or haze. To address this,…

Answering questions about the spatial properties of the environment poses challenges for existing language and vision foundation models due to a lack of understanding of the 3D world notably in terms of relationships between objects. To…

Vision-and-Language Navigation (VLN) has long been constrained by the limited diversity and scalability of simulator-curated datasets, which fail to capture the complexity of real-world environments. To overcome this limitation, we…

Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial…

This paper proposes VLA-AN, an efficient and onboard Vision-Language-Action (VLA) framework dedicated to autonomous drone navigation in complex environments. VLA-AN addresses four major limitations of existing large aerial navigation…

Ambiguity is ubiquitous in human communication. Previous approaches in Human-Robot Interaction (HRI) have often relied on predefined interaction templates, leading to reduced performance in realistic and open-ended scenarios. To address…

Vision Language Action (VLA) models represent a transformative shift in robotics, with the aim of unifying visual perception, natural language understanding, and embodied control within a single learning framework. This review presents a…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned…

Humans describe the physical world using natural language to refer to specific 3D locations based on a vast range of properties: visual appearance, semantics, abstract associations, or actionable affordances. In this work we propose…

Existing UAV vision-language navigation (VLN) benchmarks have enabled language-guided flight, but they largely focus on long, step-wise route descriptions with goal-centric evaluation, making them less diagnostic for real operations where…

Visual Place Recognition (VPR) often fails under extreme environmental changes and perceptual aliasing. Furthermore, standard systems cannot perform "blind" localization from verbal descriptions alone, a capability needed for applications…

The Visual-and-Language Navigation (VLN) task requires understanding a textual instruction to navigate a natural indoor environment using only visual information. While this is a trivial task for most humans, it is still an open problem for…

Recent vision-language-action (VLA) models rely on 2D inputs, lacking integration with the broader realm of the 3D physical world. Furthermore, they perform action prediction by learning a direct mapping from perception to action,…

While Vision-Language-Action models (VLAs) are rapidly advancing towards generalist robot policies, it remains difficult to quantitatively understand their limits and failure modes. To address this, we introduce a comprehensive benchmark…