相关论文: $NavA^3$: Understanding Any Instruction, Navigatin…
Embodied navigation that adheres to social norms remains an open research challenge. Our SocialNav is a foundational model for socially-aware navigation with a hierarchical "brain-action" architecture, capable of understanding high-level…
Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies trained on expensive, embodiment-specific robot data. While…
Embodied visual tracking is to follow a target object in dynamic 3D environments using an agent's egocentric vision. This is a vital and challenging skill for embodied agents. However, existing methods suffer from inefficient training and…
Are current Vision Language Models (VLMs) ready to comprehend and reason about complex embodied interactions in 3D environments? We introduce Embodied3DBench, a robot-centric benchmark targeting low-level spatial intelligence in embodied 3D…
Realistic long-horizon tasks like image-goal navigation involve exploratory and exploitative phases. Assigned with an image of the goal, an embodied agent must explore to discover the goal, i.e., search efficiently using learned priors.…
The realization of Artificial General Intelligence (AGI) necessitates Embodied AI agents capable of robust spatial perception, effective task planning, and adaptive execution in physical environments. However, current large language models…
Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in delivering detailed spatial information and precise guidance…
Despite the widespread adoption of MLLMs in embodied agents, their capabilities remain largely confined to reactive planning from immediate observations, consistently failing in spatial reasoning across extensive spatiotemporal scales.…
There are two major categories of embodied navigation: Vision-Language Navigation (VLN), where agents navigate by following natural language instructions; and Object-Goal Navigation (OGN), where agents navigate to a specified target object.…
In Vision-and-Language Navigation (VLN), an agent is required to plan a path to the target specified by the language instruction, using its visual observations. Consequently, prevailing VLN methods primarily focus on building powerful…
Navigating in unseen environments is crucial for mobile robots. Enhancing them with the ability to follow instructions in natural language will further improve navigation efficiency in unseen cases. However, state-of-the-art (SOTA)…
Language-guided navigation is a cornerstone of embodied AI, enabling agents to interpret language instructions and navigate complex environments. However, expert-provided instructions are limited in quantity, while synthesized annotations…
Vision-Language-Action (VLA) models leverage pretrained vision-language models (VLMs) to couple perception with robotic control, offering a promising path toward general-purpose embodied intelligence. However, current SOTA VLAs are…
The deployment of humanoid robots in unstructured, human-centric environments requires navigation capabilities that extend beyond simple locomotion to include robust perception, provable safety, and socially aware behavior. Current…
The research community has shown increasing interest in designing intelligent embodied agents that can assist humans in accomplishing tasks. Although there have been significant advancements in related vision-language benchmarks, most prior…
Robotic navigation concerns the task in which a robot should be able to find a safe and feasible path and traverse between two points in a complex environment. We approach the problem of robotic navigation using reinforcement learning and…
In the field of visual affordance learning, previous methods mainly used abundant images or videos that delineate human behavior patterns to identify action possibility regions for object manipulation, with a variety of applications in…
Finding an object of a specific class in an unseen environment remains an unsolved navigation problem. Hence, we propose a hierarchical learning-based method for object navigation. The top-level is capable of high-level planning, and…
The ability to navigate like a human towards a language-guided target from anywhere in a 3D embodied environment is one of the 'holy grail' goals of intelligent robots. Most visual navigation benchmarks, however, focus on navigating toward…
Human-robot collaboration, in which the robot intelligently assists the human with the upcoming task, is an appealing objective. To achieve this goal, the agent needs to be equipped with a fundamental collaborative navigation ability, where…