相关论文: Fine-Tuning Vision-Language Models for Visual Navi…

Visual Place Recognition (VPR) often fails under extreme environmental changes and perceptual aliasing. Furthermore, standard systems cannot perform "blind" localization from verbal descriptions alone, a capability needed for applications…

Large-scale pre-training and instruction tuning have been successful at creating general-purpose language models with broad competence. However, building general-purpose vision-language models is challenging due to the rich input…

Vision and language navigation is a task that requires an agent to navigate according to a natural language instruction. Recent methods predict sub-goals on constructed topology map at each step to enable long-term action planning. However,…

Vision-Language Models (VLMs) have achieved substantial progress across a wide range of understanding and reasoning tasks, driven by large-scale image-text training aimed at multimodal fusion. Ideally, replacing a textual question with its…

In recent years, vision-language models have made significant strides, excelling in tasks like optical character recognition and geometric problem-solving. However, several critical issues remain: 1) Proprietary models often lack…

Vision language model (VLM) has been designed for large scale image-text alignment as a pretrained foundation model. For downstream few shot classification tasks, parameter efficient fine-tuning (PEFT) VLM has gained much popularity in the…

Vision-language models (VLMs) have made significant progress in image classification by training with large-scale paired image-text data. Their performances largely depend on the prompt quality. While recent methods show that visual…

Many Vision-Language-Action (VLA) models flatten image patches into a 1D token sequence, weakening the 2D spatial cues needed for precise manipulation. We introduce IVRA, a lightweight, training-free method that improves spatial…

Low-Rank Adaptation (LoRA) is an efficient fine-tuning method that has been extensively applied in areas such as natural language processing and computer vision. Existing LoRA fine-tuning approaches excel in static environments but struggle…

Autonomous drones capable of interpreting and executing high-level language instructions in unstructured environments remain a long-standing goal. Yet existing approaches are constrained by their dependence on hand-crafted skills, extensive…

Autonomous navigation in highly constrained environments remains challenging for mobile robots. Classical navigation approaches offer safety assurances but require environment-specific parameter tuning; end-to-end learning bypasses…

This paper introduces Bayesian Hierarchical Low-Rank Adaption (BoRA), a novel method for finetuning multi-task Large Language Models (LLMs). Current finetuning approaches, such as Low-Rank Adaption (LoRA), perform exeptionally well in…

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…

The recent advancements in large language models (LLMs) and pre-trained vision models have accelerated the development of vision-language large models (VLLMs), enhancing the interaction between visual and linguistic modalities. Despite…

Although the advancements of pre-trained Large Language Models have significantly accelerated recent progress in NLP, their ever-increasing size poses significant challenges for conventional fine-tuning, especially in memory-intensive…

Medical image captioning is a challenging task that requires generating clinically accurate and semantically meaningful descriptions of radiology images. While recent vision-language models (VLMs) such as BLIP, BLIP2, Gemini and ViT-GPT2…

Vision-and-Language Navigation (VLN) tasks mainly evaluate agents based on one-time execution of individual instructions across multiple environments, aiming to develop agents capable of functioning in any environment in a zero-shot manner.…

Vision-Language Models (VLMs) integrate information from multiple modalities and have shown remarkable success across various tasks. However, deploying large-scale VLMs in resource-constrained scenarios is challenging. Pruning followed by…

Existing aerial Vision-Language Navigation (VLN) methods predominantly adopt a detection-and-planning pipeline, which converts open-vocabulary detections into discrete textual scene graphs. These approaches are plagued by inadequate spatial…

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.…