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

Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…

Multilingual neural machine translation models support fine-tuning hundreds of languages simultaneously. However, fine-tuning on full parameters solely is inefficient potentially leading to negative interactions among languages. In this…

Household environments are visually diverse. Embodied agents performing Vision-and-Language Navigation (VLN) in the wild must be able to handle this diversity, while also following arbitrary language instructions. Recently, Vision-Language…

Recent advances in parameter-efficient fine-tuning methods, such as Low Rank Adaptation (LoRA), have gained significant attention for their ability to efficiently adapt large foundational models to various downstream tasks. These methods…

Vision-Language Models (VLMs) have demonstrated great potential in interpreting remote sensing (RS) images through language-guided semantic. However, the effectiveness of these VLMs critically depends on high-quality image-text training…

Vision-language navigation (VLN) is a challenging task due to its large searching space in the environment. To address this problem, previous works have proposed some methods of fine-tuning a large model that pretrained on large-scale…

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…

How to efficiently transform large language models (LLMs) into instruction followers is recently a popular research direction, while training LLM for multi-modal reasoning remains less explored. Although the recent LLaMA-Adapter…

Fine-tuning large language models (LLMs) with high parameter efficiency for downstream tasks has become a new paradigm. Low-Rank Adaptation (LoRA) significantly reduces the number of trainable parameters for fine-tuning. Although it has…

Many image restoration (IR) tasks require both pixel-level fidelity and high-level semantic understanding to recover realistic photos with fine-grained details. However, previous approaches often struggle to effectively leverage both the…

Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these…

Detecting temporal changes in geographical landscapes is critical for applications like environmental monitoring and urban planning. While remote sensing data is abundant, existing vision-language models (VLMs) often fail to capture…

In this paper, we introduce Nested Low-Rank Adaptation (NoRA), a novel approach to parameter-efficient fine-tuning that extends the capabilities of Low-Rank Adaptation (LoRA) techniques. Vanilla LoRA overlooks pre-trained weight inheritance…

Commanding a robot to navigate with natural language instructions is a long-term goal for grounded language understanding and robotics. But the dominant language is English, according to previous studies on vision-language navigation (VLN).…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

Low-rank adaptation (LoRA) is a popular method for fine-tuning large-scale pre-trained models in downstream tasks by learning low-rank incremental matrices. Though LoRA and its variants effectively reduce the number of trainable parameters…

Teaching robots desired skills in real-world environments remains challenging, especially for non-experts. A key bottleneck is that collecting robotic data often requires expertise or specialized hardware, limiting accessibility and…

Low-rank adaptation (LoRA) has shifted the paradigm of adapting pre-trained Vision Transformers (ViT), achieving great efficiency by updating only a subset of tailored parameters to approximate weight updates. However, the multi-head design…

We propose LCLA (Language-Conditioned Latent Alignment), a framework for vision-language navigation that learns modular perception-action interfaces by aligning sensory observations to a latent representation of an expert policy. The expert…

Vision-and-Language Navigation (VLN) requires grounding instructions, such as "turn right and stop at the door", to routes in a visual environment. The actual grounding can connect language to the environment through multiple modalities,…