相关论文: MM-Nav: Multi-View VLA Model for Robust Visual Nav…

Pre-trained Vision-Language-Action (VLA) models have achieved remarkable success in improving robustness and generalization for end-to-end robotic manipulation. However, these models struggle with long-horizon tasks due to their lack of…

Vision-language-action (VLA) models show promising knowledge accumulation ability from pretraining, yet continual learning in VLA remains challenging, especially for efficient adaptation. Existing continual imitation learning (CIL) methods…

Autonomous vehicles have the potential to revolutionize transportation, but they must be able to navigate safely in traffic before they can be deployed on public roads. The goal of this project is to train autonomous vehicles to make…

The aspiration of the Vision-and-Language Navigation (VLN) task has long been to develop an embodied agent with robust adaptability, capable of seamlessly transferring its navigation capabilities across various tasks. Despite remarkable…

Vision-Language-Action (VLA) models for autonomous driving show promise but falter in unstructured corner case scenarios, largely due to a scarcity of targeted benchmarks. To address this, we introduce Impromptu VLA. Our core contribution…

Latent actions learned from diverse human videos serve as pseudo-labels for vision-language-action (VLA) pretraining, but provide effective supervision only if they remain informative about the underlying ground-truth actions. For effective…

An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…

Vision-language models (VLMs), such as CLIP and ALIGN, are generally trained on datasets consisting of image-caption pairs obtained from the web. However, real-world multimodal datasets, such as healthcare data, are significantly more…

This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

Vision-and-Language Navigation (VLN) requires an agent to follow natural-language instructions and navigate through previously unseen environments. Recent approaches increasingly employ large language models (LLMs) as high-level navigators…

Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…

Vision-language navigation (VLN) is a critical domain within embedded intelligence, requiring agents to navigate 3D environments based on natural language instructions. Traditional VLN research has focused on improving environmental…

Developing robust and general-purpose manipulation policies represents a fundamental objective in robotics research. While Vision-Language-Action (VLA) models have demonstrated promising capabilities for end-to-end robot control, existing…

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…

Vision-Language-Action (VLA) models have recently shown impressive generalization and language-guided manipulation capabilities. However, their performance degrades on tasks requiring precise spatial reasoning due to limited spatial…

Vision-language-action models (VLAs) have become an increasingly popular approach for addressing robot manipulation problems in recent years. However, such models need to output actions at a rate suitable for robot control, which limits the…

Multimodal Large Language Models (MLLMs) are experiencing rapid growth, yielding a plethora of noteworthy contributions in recent months. The prevailing trend involves adopting data-driven methodologies, wherein diverse…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…