相关论文: General-Purpose Robotic Navigation via LVLM-Orches…

Vision-and-Language Navigation (VLN) poses significant challenges for agents to interpret natural language instructions and navigate complex 3D environments. While recent progress has been driven by large-scale pre-training and data…

The aspiration of the Vision-and-Language Navigation (VLN) task has long been to develop an embodied agent with robust adaptability, capable of seamlessly transferring its navigation capabilities across various tasks. Despite remarkable…

Robots should exist anywhere humans do: indoors, outdoors, and even unmapped environments. In contrast, the focus of recent advancements in Object Goal Navigation(OGN) has targeted navigating in indoor environments by leveraging spatial and…

Leveraging multimodal large language models (MLLMs) to develop embodied agents offers significant promise for addressing complex real-world tasks. However, current evaluation benchmarks remain predominantly language-centric or heavily…

Vision Language Navigation in Continuous Environments (VLN-CE) represents a frontier in embodied AI, demanding agents to navigate freely in unbounded 3D spaces solely guided by natural language instructions. This task introduces distinct…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

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…

Unmanned Aerial Vehicles (UAVs) are increasingly used in defense, surveillance, and disaster response, yet most systems still operate at SAE Level 2 to 3 autonomy. Their dependence on rule-based control and narrow AI limits adaptability in…

Aerial vision-and-language navigation (VLN), requiring drones to interpret natural language instructions and navigate complex urban environments, emerges as a critical embodied AI challenge that bridges human-robot interaction, 3D spatial…

Zero-shot navigation is a critical challenge in Vision-Language Navigation (VLN) tasks, where the ability to adapt to unfamiliar instructions and to act in unknown environments is essential. Existing supervised learning-based models,…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

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…

Embodied navigation requires an agent to map language and visual observations to a stream of spatial actions that drive a real robot through environments it has never seen. The dominant approach has been to scale vision-language-action…

Incremental decision making in real-world environments is one of the most challenging tasks in embodied artificial intelligence. One particularly demanding scenario is Vision and Language Navigation~(VLN) which requires visual and natural…

We introduce Agentic Reasoning, a framework that enhances large language model (LLM) reasoning by integrating external tool-using agents. Agentic Reasoning dynamically leverages web search, code execution, and structured memory to address…

What does it mean to plan? Current agentic systems, whether scaffolded workflows or end-to-end policies, rely on reactive decision-making: selecting the next action via a fixed procedure with at most undifferentiated adaptive computation…

Robot learning approaches such as behavior cloning and reinforcement learning have shown great promise in synthesizing robot skills from human demonstrations in specific environments. However, these approaches often require task-specific…

Vision-and-Language Navigation (VLN) tasks agents with locating specific objects in unseen environments using natural language instructions and visual cues. Many existing VLN approaches typically follow an 'observe-and-reason' schema, that…

Although Vision-Language Models (VLM) have demonstrated impressive planning and reasoning capabilities, translating these abilities into the physical world introduces significant challenges. Conventional Vision-Language-Action (VLA) models,…