相关论文: OpenNav: Open-World Navigation with Multimodal Lar…

A big convergence of language, multimodal perception, action, and world modeling is a key step toward artificial general intelligence. In this work, we introduce Kosmos-1, a Multimodal Large Language Model (MLLM) that can perceive general…

While large language models (LLMs) are still being adopted to new domains and utilized in novel applications, we are experiencing an influx of the new generation of foundation models, namely multi-modal large language models (MLLMs). These…

This paper proposes an interactive navigation framework by using large language and vision-language models, allowing robots to navigate in environments with traversable obstacles. We utilize the large language model (GPT-3.5) and the…

As large language models (LLMs) evolve, their integration with 3D spatial data (3D-LLMs) has seen rapid progress, offering unprecedented capabilities for understanding and interacting with physical spaces. This survey provides a…

Humans can flexibly interpret and compose different goal specifications, such as language instructions, spatial coordinates, or visual references, when navigating to a destination. In contrast, most existing robotic navigation policies are…

Vision-and-Language Navigation (VLN) presents a complex challenge in embodied AI, requiring agents to interpret natural language instructions and navigate through visually rich, unfamiliar environments. Recent advances in large…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

Visual navigation tasks are critical for household service robots. As these tasks become increasingly complex, effective communication and collaboration among multiple robots become imperative to ensure successful completion. In recent…

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed…

The success of large language models (LLMs) has fostered a new research trend of multi-modality large language models (MLLMs), which changes the paradigm of various fields in computer vision. Though MLLMs have shown promising results in…

Low-shot image classification, where training images are limited or inaccessible, has benefited from recent progress on pre-trained vision-language (VL) models with strong generalizability, e.g. CLIP. Prompt learning methods built with VL…

The quest for fully autonomous vehicles (AVs) capable of navigating complex real-world scenarios with human-like understanding and responsiveness. In this paper, we introduce Dolphins, a novel vision-language model architected to imbibe…

Autonomous vehicles (AVs) rely on sophisticated perception systems to interpret their surroundings, a cornerstone for safe navigation and decision-making. The integration of Large Language Models (LLMs) into AV perception frameworks offers…

The field of machine learning (ML) has gained widespread adoption, leading to significant demand for adapting ML to specific scenarios, which is yet expensive and non-trivial. The predominant approaches towards the automation of solving ML…

Large Language Models (LLMs) and strong vision models have enabled rapid research and development in the field of Vision-Language-Action models that enable robotic control. The main objective of these methods is to develop a generalist…

Vision-and-language navigation (VLN) is a challenging task that requires an agent to navigate in real-world environments by understanding natural language instructions and visual information received in real-time. Prior works have…

Navigating unstructured environments requires assessing traversal risk relative to a robot's physical capabilities, a challenge that varies across embodiments. We present CATNAV, a cost-aware traversability navigation framework that…

Large Language Models (LLMs) show potential for enhancing robotic path planning. This paper assesses visual input's utility for multimodal LLMs in such tasks via a comprehensive benchmark. We evaluated 15 multimodal LLMs on generating valid…

The advent of Large Language Models (LLMs) has significantly reshaped the trajectory of the AI revolution. Nevertheless, these LLMs exhibit a notable limitation, as they are primarily adept at processing textual information. To address this…

Large Language Models (LLMs) and Vision Language Models (VLMs) have become popular tools for embodied high-level planning. However, their deployment in black-box settings often leads to unpredictable or costly errors. To harness their…