相关论文: DAgger Diffusion Navigation: DAgger Boosted Diffus…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Diffusion models are primarily trained for image synthesis, yet their denoising trajectories encode rich, spatially aligned visual priors. In this paper, we demonstrate that these priors can be utilized for text-conditioned semantic and…

Latent diffusion models with Transformer architectures excel at generating high-fidelity images. However, recent studies reveal an optimization dilemma in this two-stage design: while increasing the per-token feature dimension in visual…

We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off-road features like grass, buildings, bushes, etc. Given a…

Diffusion-based large language models (dLLMs) have emerged as a promising alternative to autoregressive (AR) LLMs, leveraging denoising-based generation to enable inherent parallelism. Even more and more open-sourced dLLM models emerge, yet…

Designing realistic multi-object scenes requires not only generating images, but also planning spatial layouts that respect semantic relations and physical plausibility. On one hand, while recent advances in diffusion models have enabled…

In this paper, we propose a novel dependency-aware task scheduling strategy for dynamic unmanned aerial vehicle-assisted connected autonomous vehicles (CAVs). Specifically, different computation tasks of CAVs consisting of multiple…

Diffusion-based image compression has recently shown outstanding perceptual fidelity, yet its practicality is hindered by prohibitive sampling overhead and high memory usage. Most existing diffusion codecs employ U-Net architectures, where…

Aerial Vision-and-Language Navigation (VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and navigate complex urban environments using onboard visual observation. This task holds promise for…

We consider the use of deep neural network (DNN) to develop a decision-directed (DD)-channel estimation (CE) algorithm for multiple-input multiple-output (MIMO)-space-time block coded systems in highly dynamic vehicular environments. We…

Vision-and-language navigation (VLN) aims to enable embodied agents to navigate in realistic environments using natural language instructions. Given the scarcity of domain-specific training data and the high diversity of image and language…

Recent advances in Vision-and-Language Navigation in Continuous Environments (VLN-CE) have leveraged multimodal large language models (MLLMs) to achieve zero-shot navigation. However, existing methods often rely on panoramic observations…

Long-horizon collaborative vision-language navigation (VLN) is critical for multi-robot systems to accomplish complex tasks beyond the capability of a single agent. CoNavBench takes a first step by introducing the first collaborative…

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…

Recent advances in vision-language navigation (VLN) were mainly attributed to emerging large language models (LLMs). These methods exhibited excellent generalization capabilities in instruction understanding and task reasoning. However,…

We present Adversarial Object Fusion (AdvOF), a novel attack framework targeting vision-and-language navigation (VLN) agents in service-oriented environments by generating adversarial 3D objects. While foundational models like Large…

Vision-Language Navigation (VLN) agents often struggle with long-horizon reasoning in unseen environments, particularly when facing ambiguous, coarse-grained instructions. While recent advances use knowledge graph to enhance reasoning, the…

While multimodal large language models (MLLMs) provide advanced reasoning for autonomous driving, translating their discrete semantic knowledge into continuous trajectories remains a fundamental challenge. Existing methods often rely on…

Diffusion Language Models (DLMs) present a compelling alternative to autoregressive models, offering flexible, any-order infilling without specialized prompting design. However, their practical utility is blocked by a critical limitation:…

Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from…