相关论文: Object Navigation with Structure-Semantic Reasonin…

Object-goal navigation requires mobile robots to efficiently locate targets with visual and spatial information, yet existing methods struggle with generalization in unseen environments. Heuristic approaches with naive metrics fail in…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

Object Navigation (ObjectNav) is a fundamental task in embodied artificial intelligence. Although significant progress has been made in semantic map construction and target direction prediction in current research, redundant exploration and…

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),…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

Zero-Shot Object Navigation (ZSON) enables agents to navigate towards open-vocabulary objects in unknown environments. The existing works of ZSON mainly focus on following individual instructions to find generic object classes, neglecting…

Open-Vocabulary Mobile Manipulation (OVMM) is a crucial capability for autonomous robots, especially when faced with the challenges posed by unknown and dynamic environments. This task requires robots to explore and build a semantic…

LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN) tasks. However, most zero-shot methods primarily rely on closed-source LLMs as navigators, which face challenges related to high token…

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…

This work studies the problem of object goal navigation which involves navigating to an instance of the given object category in unseen environments. End-to-end learning-based navigation methods struggle at this task as they are ineffective…

Zero-Shot Object Navigation (ZSON) requires agents to navigate to objects specified via open-ended natural language without predefined categories or prior environmental knowledge. While recent methods leverage foundation models or…

Zero-shot object navigation (ZSON) requires robots to locate target objects in unseen environments without task-specific fine-tuning or pre-built maps, a capability crucial for service and household robotics. Existing methods perform well…

Vision-and-Language Navigation (VLN) requires an agent to interpret natural language instructions and navigate complex environments. Current approaches often adopt a "black-box" paradigm, where a single Large Language Model (LLM) makes…

Deployable service and delivery robots struggle to navigate multi-floor buildings to reach object goals, as existing systems fail due to single-floor assumptions and requirements for offline, globally consistent maps. Multi-floor…

The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models have resulted in semantically-informed object navigation…

Zero-Shot Object Goal Navigation (ZS-OGN) enables robots or agents to navigate toward objects of unseen categories without object-specific training. Traditional approaches often leverage categorical semantic information for navigation…

Recent progress in large vision-language models has driven improvements in language-based semantic navigation, where an embodied agent must reach a target object described in natural language. Yet we still lack a clear, language-focused…

Object-Goal Navigation (ObjectNav) requires an agent to find and navigate to a target object category in unknown environments. While recent Large Language Model (LLM)-based agents exhibit zero-shot reasoning, they often rely on a "reactive"…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN) task. However, existing LLM-based methods often focus only on solving high-level task planning by selecting nodes in predefined…