相关论文: Unseen from Seen: Rewriting Observation-Instructio…

Medical image segmentation remains challenging due to the high cost of pixel-level annotations for training. In the context of weak supervision, clinician gaze data captures regions of diagnostic interest; however, its sparsity limits its…

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…

Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…

An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…

Large-scale pre-trained Vision-Language Models (VLMs) have demonstrated strong few-shot learning capabilities. However, these methods typically learn holistic representations where an image's domain-invariant structure is implicitly…

Vision-and-Language Navigation (VLN) is a realistic but challenging task that requires an agent to locate the target region using verbal and visual cues. While significant advancements have been achieved recently, there are still two broad…

Recent research efforts enable study for natural language grounded navigation in photo-realistic environments, e.g., following natural language instructions or dialog. However, existing methods tend to overfit training data in seen…

Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…

Vision-and-Language Navigation (VLN) tasks require an agent to navigate through the environment based on language instructions. In this paper, we aim to solve two key challenges in this task: utilizing multilingual instructions for improved…

Recent advances in reinforcement learning (RL) have strengthened the reasoning capabilities of vision-language models (VLMs). However, enhancing policy exploration to better scale test-time compute remains largely underexplored. In…

We propose to directly map raw visual observations and text input to actions for instruction execution. While existing approaches assume access to structured environment representations or use a pipeline of separately trained models, we…

Visual document retrieval aims to retrieve a set of document pages relevant to a query from visually rich collections. Existing methods often employ Vision-Language Models (VLMs) to encode queries and visual pages into a shared embedding…

Robotic manipulation requires sophisticated commonsense reasoning, a capability naturally possessed by large-scale Vision-Language Models (VLMs). While VLMs show promise as zero-shot planners, their lack of grounded physical understanding…

Training end-to-end policies from image data to directly predict navigation actions for robotic systems has proven inherently difficult. Existing approaches often suffer from either the sim-to-real gap during policy transfer or a limited…

Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions, explore the given environments, and reach the desired target locations. These step-by-step navigational instructions are crucial when the agent…

One promise that Vision-Language-Action (VLA) models hold over traditional imitation learning for robotics is to leverage the broad generalization capabilities of large Vision-Language Models (VLMs) to produce versatile, "generalist" robot…

Real-world navigation often involves dealing with unexpected obstructions such as closed doors, moved objects, and unpredictable entities. However, mainstream Vision-and-Language Navigation (VLN) tasks typically assume instructions…

Prompt learning is an effective method to customize Vision-Language Models (VLMs) for various downstream tasks, involving tuning very few parameters of input prompt tokens. Recently, prompt pretraining in large-scale dataset (e.g.,…

Integrating large language models (LLMs) into embodied AI models is becoming increasingly prevalent. However, existing zero-shot LLM-based Vision-and-Language Navigation (VLN) agents either encode images as textual scene descriptions,…

Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it. Existing systems remain limited in real…