相关论文: RSRNav: Reasoning Spatial Relationship for Image-G…

Navigating complex real-world environments requires semantic understanding and adaptive decision-making. Traditional reactive methods without maps often fail in cluttered settings, map-based approaches demand heavy mapping effort, and…

Semantic communication is focused on optimizing the exchange of information by transmitting only the most relevant data required to convey the intended message to the receiver and achieve the desired communication goal. For example, if we…

Behavioral and semantic relationships play a vital role on intelligent self-driving vehicles and ADAS systems. Different from other research focused on trajectory, position, and bounding boxes, relationship data provides a human…

The ability to navigate from visual observations in unfamiliar environments is a core component of intelligent agents and an ongoing challenge for Deep Reinforcement Learning (RL). Street View can be a sensible testbed for such RL agents,…

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,…

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…

Vision guided navigation requires processing complex visual information to inform task-orientated decisions. Applications include autonomous robots, self-driving cars, and assistive vision for humans. A key element is the extraction and…

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…

To enhance the cross-target and cross-scene generalization of target-driven visual navigation based on deep reinforcement learning (RL), we introduce an information-theoretic regularization term into the RL objective. The regularization…

In this paper, we propose the use of a semantic image, an improved representation for video analysis, principally in combination with Inception networks. The semantic image is obtained by applying localized sparse segmentation using global…

Vision based solutions for the localization of vehicles have become popular recently. We employ an image retrieval based visual localization approach. The database images are kept with GPS coordinates and the location of the retrieved…

Navigating complex urban environments using natural language instructions poses significant challenges for embodied agents, including noisy language instructions, ambiguous spatial references, diverse landmarks, and dynamic street scenes.…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

Vision-and-Language Navigation (VLN) is a cornerstone of embodied intelligence. However, current agents often suffer from significant performance degradation when transitioning from simulation to real-world deployment, primarily due to…

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,…

We present a novel method, AutoSpatial, an efficient approach with structured spatial grounding to enhance VLMs' spatial reasoning. By combining minimal manual supervision with large-scale Visual Question-Answering (VQA) pairs…

Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a probabilistic planning framework that…

While initially devised for image categorization, convolutional neural networks (CNNs) are being increasingly used for the pixelwise semantic labeling of images. However, the proper nature of the most common CNN architectures makes them…

The prevailing paradigm for image-goal visual navigation often assumes access to large-scale datasets, substantial pretraining, and significant computational resources. In this work, we challenge this assumption. We show that we can collect…

Visual navigation is often cast as a reinforcement learning (RL) problem. Current methods typically result in a suboptimal policy that learns general obstacle avoidance and search behaviours. For example, in the target-object navigation…