相关论文: ActiveVLN: Towards Active Exploration via Multi-Tu…

The scaling of large language models to encode all the world's knowledge in model parameters is unsustainable and has exacerbated resource barriers. Retrieval-Augmented Generation (RAG) presents a potential solution, yet its application to…

The navigation problem is classically approached in two steps: an exploration step, where map-information about the environment is gathered; and an exploitation step, where this information is used to navigate efficiently. Deep…

In the last few years, the research interest in Vision-and-Language Navigation (VLN) has grown significantly. VLN is a challenging task that involves an agent following human instructions and navigating in a previously unknown environment…

Vision-and-Language Navigation (VLN) aims to enable an embodied agent to follow natural-language instructions and navigate to a target location in unseen 3D environments. We argue that adapting VLMs to VLN requires endowing them with two…

Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…

Recent studies have successfully integrated large vision-language models (VLMs) into low-level robotic control by supervised fine-tuning (SFT) with expert robotic datasets, resulting in what we term vision-language-action (VLA) models.…

We investigate the Vision-and-Language Navigation (VLN) problem in the context of autonomous driving in outdoor settings. We solve the problem by explicitly grounding the navigable regions corresponding to the textual command. At each…

Reinforcement learning (RL) has demonstrated strong potential in training large language models (LLMs) capable of complex reasoning for real-world problem solving. More recently, RL has been leveraged to create sophisticated LLM-based…

Visual reasoning in multimodal large language models (MLLMs) has primarily been studied in static, fully observable settings, limiting their effectiveness in real-world environments where information is often incomplete due to occlusion or…

Aerial Vision-and-Language Navigation (Aerial VLN) enables unmanned aerial vehicles (UAVs) to follow natural language instructions and navigate complex urban environments. While recent advances have achieved progress through large-scale…

Effectively retrieving, reasoning and understanding visually rich information remains a challenge for RAG methods. Traditional text-based methods cannot handle visual-related information. On the other hand, current vision-based RAG…

Improving embodied reasoning in multimodal-large-language models (MLLMs) is essential for building vision-language-action models (VLAs) on top of them to readily translate multimodal understanding into low-level actions. Accordingly, recent…

We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…

Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense and spatial reasoning for efficient exploration in…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Training large language models (LLMs) as interactive agents presents unique challenges including long-horizon decision making and interacting with stochastic environment feedback. While reinforcement learning (RL) has enabled progress in…

Vision-Language Navigation (VLN) is evolving from single-point pathfinding toward the more challenging Multi-Goal VLN. This task requires agents to accurately identify multiple entities while collaboratively reasoning over their…

Natural language can offer a concise and human-interpretable means of specifying reinforcement learning (RL) tasks. The ability to extract rewards from a language instruction can enable the development of robotic systems that can learn from…

Vision-and-Language Navigation (VLN) has gained increasing attention over recent years and many approaches have emerged to advance their development. The remarkable achievements of foundation models have shaped the challenges and proposed…

Vision-Language Navigation (VLN) for Unmanned Aerial Vehicles (UAVs) demands complex visual interpretation and continuous control in dynamic 3D environments. Existing hierarchical approaches rely on dense oracle guidance or auxiliary object…