相关论文: NavigScene: Bridging Local Perception and Global N…
The Visual-and-Language Navigation (VLN) task requires understanding a textual instruction to navigate a natural indoor environment using only visual information. While this is a trivial task for most humans, it is still an open problem for…
Vision-Language Navigation requires agents to act coherently over long horizons by understanding not only local visual context but also how far they have advanced within a multi-step instruction. However, recent Vision-Language-Action…
Current visual navigation systems often treat the environment as static, lacking the ability to adaptively interact with obstacles. This limitation leads to navigation failure when encountering unavoidable obstructions. In response, we…
We develop a language-guided navigation task set in a continuous 3D environment where agents must execute low-level actions to follow natural language navigation directions. By being situated in continuous environments, this setting lifts a…
Small-scale autonomous airborne vehicles, such as micro-drones, are expected to be a central component of a broad spectrum of applications ranging from exploration to surveillance and delivery. This class of vehicles is characterized by…
Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…
Recent Large Vision-Language Models (LVLMs) demonstrate remarkable capabilities in image understanding and natural language generation. However, current approaches focus predominantly on global image understanding, struggling to simulate…
Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…
Audio-visual navigation enables embodied agents to navigate toward sound-emitting targets by leveraging both auditory and visual cues. However, most existing approaches rely on precomputed room impulse responses (RIRs) for binaural audio…
The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…
Navigational signs are common aids for human wayfinding and scene understanding, but are underutilized by robots. We argue that they benefit robot navigation and scene understanding, by directly encoding privileged information on actions,…
Predicting the future motion of surrounding road users is a crucial and challenging task for autonomous driving (AD) and various advanced driver-assistance systems (ADAS). Planning a safe future trajectory heavily depends on understanding…
For an autonomous vehicle, situation understand-ing is a key capability towards safe and comfortable decision-making and navigation. Information is in general provided bymultiple sources. Prior information about the road topology andtraffic…
The existing methods for Vision and Language Navigation in the Continuous Environment (VLN-CE) commonly incorporate a waypoint predictor to discretize the environment. This simplifies the navigation actions into a view selection task and…
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…
In this paper, we introduce a novel image-goal navigation approach, named RFSG. Our focus lies in leveraging the fine-grained connections between goals, observations, and the environment within limited image data, all the while keeping the…
Vision-and-language navigation is one of the core tasks in embodied intelligence, requiring an agent to autonomously navigate in an unfamiliar environment based on natural language instructions. However, existing methods often fail to match…
Persons with visual impairments (PwVI) have difficulties understanding and navigating spaces around them. Current wayfinding technologies either focus solely on navigation or provide limited communication about the environment. Motivated by…
In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…
Autonomous vehicles (AVs) are poised to redefine transportation by enhancing road safety, minimizing human error, and optimizing traffic efficiency. The success of AVs depends on their ability to interpret complex, dynamic environments…