相关论文: Can Pretrained Vision-Language Embeddings Alone Gu…

Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…

Vision-Language Navigation (VLN) enables robots to follow natural-language instructions in visually grounded environments, serving as a key capability for embodied robotic systems. Recent Vision-Language-Action (VLA) models have…

Grounding the common-sense reasoning of Large Language Models (LLMs) in physical domains remains a pivotal yet unsolved problem for embodied AI. Whereas prior works have focused on leveraging LLMs directly for planning in symbolic spaces,…

Learning to navigate in unstructured environments is a challenging task for robots. While reinforcement learning can be effective, it often requires extensive data collection and can pose risk. Learning from expert demonstrations, on the…

Vision-Language-Action Models (VLAs) inherit their visual and linguistic capabilities from Vision-Language Models (VLMs), yet most VLAs are built from off-the-shelf VLMs that are not adapted to the embodied domain, limiting their downstream…

In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…

Large unimodal foundation models for vision and language encode rich semantic structures, yet aligning them typically requires computationally intensive multimodal fine-tuning. Such approaches depend on large-scale parameter updates, are…

Grounding language in vision is an active field of research seeking to construct cognitively plausible word and sentence representations by incorporating perceptual knowledge from vision into text-based representations. Despite many…

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,…

Vision-and-Language Navigation (VLN) is a task to guide an embodied agent moving to a target position using language instructions. Despite the significant performance improvement, the wide use of fine-grained instructions fails to…

Navigating towards fully open language goals and exploring open scenes in an intelligent way have always raised significant challenges. Recently, Vision Language Models (VLMs) have demonstrated remarkable capabilities to reason with both…

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…

Autonomous robots must navigate and operate in diverse environments, from terrestrial and aquatic settings to aerial and space domains. While Reinforcement Learning (RL) has shown promise in training policies for specific autonomous robots,…

We investigate the Vision-and-Language Navigation (VLN) problem in the context of autonomous driving in outdoor settings. We solve the problem by explicitly grounding the navigable regions corresponding to the textual command. At each…

Visual-language models (VLMs) have recently been introduced in robotic mapping using the latent representations, i.e., embeddings, of the VLMs to represent semantics in the map. They allow moving from a limited set of human-created labels…

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how…

Navigation guided by natural language instructions presents a challenging reasoning problem for instruction followers. Natural language instructions typically identify only a few high-level decisions and landmarks rather than complete…

Existing language-driven embodied navigation paradigms face challenges in functional buildings (FBs) with highly similar features, as they lack the ability to effectively utilize priori spatial knowledge. To tackle this issue, we propose a…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

This paper reveals that large language models (LLMs), despite being trained solely on textual data, are surprisingly strong encoders for purely visual tasks in the absence of language. Even more intriguingly, this can be achieved by a…