相关论文: Imaginative World Modeling with Scene Graphs for E…

Autonomous navigation in unknown environments is challenging and demands the consideration of both geometric and semantic information in order to parse the navigability of the environment. In this work, we propose a novel space modeling…

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…

We present a scalable approach for learning open-world object-goal navigation (ObjectNav) -- the task of asking a virtual robot (agent) to find any instance of an object in an unexplored environment (e.g., "find a sink"). Our approach is…

With the rapid development of Large Vision Language Models, the focus of Graphical User Interface (GUI) agent tasks shifts from single-screen tasks to complex screen navigation challenges. However, real-world GUI environments, such as PC…

Unmanned aerial vehicles (UAVs) have emerged as powerful embodied agents. One of the core abilities is autonomous navigation in large-scale three-dimensional environments. Existing navigation policies, however, are typically optimized for…

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…

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…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Audio-Visual Embodied Navigation aims to enable agents to autonomously navigate to sound sources in unknown 3D environments using auditory cues. While current AVN methods excel on in-distribution sound sources, they exhibit poor…

Immersive rooms are increasingly popular augmented reality systems that support multi-agent interactions within a virtual world. However, despite extensive content creation and technological developments, insights about perceptually-driven…

We propose a novel scene representation that encodes reaching distance -- the distance between any position in the scene to a goal along a feasible trajectory. We demonstrate that this environment field representation can directly guide the…

Controllable image semantic understanding tasks, such as captioning or segmentation, necessitate users to input a prompt (e.g., text or bounding boxes) to predict a unique outcome, presenting challenges such as high-cost prompt input or…

Aligning 3D scene graphs is a crucial initial step for several applications in robot navigation and embodied perception. Current methods in 3D scene graph alignment often rely on single-modality point cloud data and struggle with incomplete…

Scene text image contains two levels of contents: visual texture and semantic information. Although the previous scene text recognition methods have made great progress over the past few years, the research on mining semantic information to…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

The imagination of the surrounding environment based on experience and semantic cognition has great potential to extend the limited observations and provide more information for mapping, collision avoidance, and path planning. This paper…

Embodied agents often struggle with efficient navigation because they rely primarily on partial egocentric observations, which restrict global foresight and lead to inefficient exploration. In contrast, humans plan using maps: we reason…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

Vision-and-Language Navigation (VLN) agents are tasked with navigating an unseen environment using natural language instructions. In this work, we study if visual representations of sub-goals implied by the instructions can serve as…

Scene graphs have emerged as a structured and serializable environment representation for grounded spatial reasoning with Large Language Models (LLMs). In this work, we propose SG^2, an iterative Schema-Guided Scene-Graph reasoning…