相关论文: DyNaVLM: Zero-Shot Vision-Language Navigation Syst…
Aerial vision-language navigation (AVLN) enables UAVs to follow natural-language instructions in complex 3D environments. However, existing zero-shot AVLN methods often suffer from unstable single-stream Vision-Language Model…
We present a novel high-level planning framework that leverages vision-language models (VLMs) to improve autonomous navigation in unknown indoor environments with many dead ends. Traditional exploration methods often take inefficient routes…
Recent advances in large vision-language models (VLMs) and large language models (LLMs) have enabled zero-shot approaches to visual language navigation (VLN), where an agent follows natural language instructions using only ego perception…
A core challenge in AI-guided autonomy is enabling agents to navigate realistically and effectively in previously unseen environments based on natural language commands. We propose UAV-VLN, a novel end-to-end Vision-Language Navigation…
We study how vision-language models (VLMs) trained on web-scale data can be integrated into end-to-end driving systems to boost generalization and enable interactivity with human users. While recent approaches adapt VLMs to driving via…
3D visual grounding (3DVG) identifies objects in 3D scenes from language descriptions. Existing zero-shot approaches leverage 2D vision-language models (VLMs) by converting 3D spatial information (SI) into forms amenable to VLM processing,…
Recent advances in Vision-and-Language Navigation in Continuous Environments (VLN-CE) have leveraged multimodal large language models (MLLMs) to achieve zero-shot navigation. However, existing methods often rely on panoramic observations…
We present an optimization study of the Vision-Language Frontier Maps (VLFM) applied to the Object Goal Navigation task in robotics. Our work evaluates the efficiency and performance of various vision-language models, object detectors,…
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…
Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…
Autonomous navigation under natural language instructions represents a crucial step toward embodied intelligence, enabling complex task execution in environments ranging from industrial facilities to domestic spaces. However,…
Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…
Vision-Language Navigation (VLN) for Unmanned Aerial Vehicles (UAVs) demands complex visual interpretation and continuous control in dynamic 3D environments. Existing hierarchical approaches rely on dense oracle guidance or auxiliary object…
Vision-language navigation (VLN) has emerged as a promising paradigm, enabling mobile robots to perform zero-shot inference and execute tasks without specific pre-programming. However, current systems often separate map exploration and path…
Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…
3D Visual Grounding (3DVG) aims to localize objects in 3D scenes using natural language descriptions. Although supervised methods achieve higher accuracy in constrained settings, zero-shot 3DVG holds greater promise for real-world…
Current vision-language navigation methods face substantial bottlenecks regarding heterogeneous robot compatibility, real-time performance, and navigation safety. Furthermore, they struggle to support open-vocabulary semantic generalization…
Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. To represent the previously visited environment, most approaches for VLN implement memory…
The advancement of embodied intelligence is accelerating the integration of robots into daily life as human assistants. This evolution requires robots to not only interpret high-level instructions and plan tasks but also perceive and adapt…
Trained with an unprecedented scale of data, large language models (LLMs) like ChatGPT and GPT-4 exhibit the emergence of significant reasoning abilities from model scaling. Such a trend underscored the potential of training LLMs with…