相关论文: CorrectNav: Self-Correction Flywheel Empowers Visi…

This paper presents a self-improving lifelong learning framework for a mobile robot navigating in different environments. Classical static navigation methods require environment-specific in-situ system adjustment, e.g. from human experts,…

Standard training pipelines for large language models (LLMs) are typically unidirectional, progressing from pre-training to post-training. However, the potential for a bidirectional process--where insights from post-training retroactively…

Urban micromobility applications, such as delivery robots, demand reliable navigation across large-scale urban environments while following long-horizon route instructions. This task is particularly challenging due to the dynamic and…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

We present the Frontier Aware Search with backTracking (FAST) Navigator, a general framework for action decoding, that achieves state-of-the-art results on the Room-to-Room (R2R) Vision-and-Language navigation challenge of Anderson et. al.…

Vision-language-action models have reshaped autonomous driving to incorporate languages into the decision-making process. However, most existing pipelines only utilize the language modality for scene descriptions or reasoning and lack the…

Enabling robotic assistants to navigate complex environments and locate objects described in free-form language is a critical capability for real-world deployment. While foundation models, particularly Vision-Language Models (VLMs), offer…

Object-goal visual navigation aims to reach a specific target object using egocentric visual observations. Recent deep reinforcement learning (DRL) approaches have achieved promising success rates but often neglect collisions during…

Vision-Language-Action (VLA) models excel in robotic manipulation but are constrained by their heavy reliance on expert demonstrations, leading to demonstration bias and limiting performance. Reinforcement learning (RL) is a vital…

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,…

The goal of this paper is to improve the performance and reliability of vision-language-action (VLA) models through iterative online interaction. Since collecting policy rollouts in the real world is expensive, we investigate whether a…

Reinforcement learning (RL) fine-tuning has shown promise for Vision-Language-Action (VLA) models in robotic manipulation, but deployment-time visual shifts pose practical challenges. A key difficulty is that standard task rewards supervise…

Language models have demonstrated remarkable performance in solving reasoning tasks; however, even the strongest models still occasionally make reasoning mistakes. Recently, there has been active research aimed at improving reasoning…

The dominant paradigm for training Large Vision-Language Models (LVLMs) in navigation relies on imitating expert trajectories. This approach reduces the complex navigation task to a sequence-to-sequence replication of a single correct path,…

Vision-Language-Action (VLA) models offer a promising autonomous driving paradigm for leveraging world knowledge and reasoning capabilities, especially in long-tail scenarios. However, existing VLA models often struggle with the high…

Existing Driving VLAs predict trajectories while largely ignoring their visual tokens -- a phenomenon we trace not to insufficient training but to a structurally ill-posed task formulation. We show that trajectory recovery, when viewed…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

Autonomous navigation emerges from both motion and local visual perception in real-world environments. However, most successful robotic motion estimation methods (e.g. VO, SLAM, SfM) and vision systems (e.g. CNN, visual place…

Vision-Language-Action (VLA) models have gained much attention from the research community thanks to their strength in translating multimodal observations with linguistic instructions into desired robotic actions. Despite their…

Collision avoidance systems play a vital role in reducing the number of vehicle accidents and saving human lives. This paper extends the previous work using evolutionary neural networks for reactive collision avoidance. We are proposing a…