相关论文: FM-Planner: Foundation Model Guided Path Planning …

Autonomous drones capable of interpreting and executing high-level language instructions in unstructured environments remain a long-standing goal. Yet existing approaches are constrained by their dependence on hand-crafted skills, extensive…

This report overviews a set of recent contributions in the field of path planning that were developed to enable the realization of the autonomous aerial robotic worker for inspection operations. The specific algorithmic contributions…

We propose a multi-robot control paradigm to solve point-to-point navigation tasks for a team of holonomic robots with access to the full environment information. The framework invokes two processes asynchronously at high frequency: (i) a…

Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within fixed free workspace, therefore struggling in environments lacking viable paths…

Vision-and-Language Navigation (VLN) requires an embodied agent to navigate in a complex 3D environment according to natural language instructions. Recent progress in large language models (LLMs) has enabled language-driven navigation with…

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…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

While reinforcement learning from scratch has shown impressive results in solving sequential decision-making tasks with efficient simulators, real-world applications with expensive interactions require more sample-efficient agents.…

Benefiting from the rapid advancements in large language models (LLMs), human-drone interaction has reached unprecedented opportunities. In this paper, we propose a method that integrates a fine-tuned CodeT5 model with the Unreal…

Existing navigation decision support systems often perform poorly when handling non-predefined navigation scenarios. Leveraging the generalization capabilities of large language model (LLM) in handling unknown scenarios, this research…

Civil aviation is a cornerstone of global transportation and commerce, and ensuring its safety, efficiency and customer satisfaction is paramount. Yet conventional Artificial Intelligence (AI) solutions in aviation remain siloed and narrow,…

Robot vision has greatly benefited from advancements in multimodal fusion techniques and vision-language models (VLMs). We adopt a task-oriented perspective to systematically review the applications and advancements of multimodal fusion…

Aerial Vision-and-Language Navigation (VLN) is a novel task enabling Unmanned Aerial Vehicles (UAVs) to navigate in outdoor environments through natural language instructions and visual cues. However, it remains challenging due to the…

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…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

Path planning is a classic problem for autonomous robots. To ensure safe and efficient point-to-point navigation an appropriate algorithm should be chosen keeping the robot's dimensions and its classification in mind. Autonomous robots use…

Guiding users through complex procedural plans is an inherently multimodal task in which having visually illustrated plan steps is crucial to deliver an effective plan guidance. However, existing works on plan-following language models…

An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…

Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…

Although large language models (LLMs) are introduced into vision-and-language navigation (VLN) to improve instruction comprehension and generalization, existing LLM- based VLN lacks the ability to selectively recall and use relevant priori…