相关论文: SoraNav: Adaptive UAV Task-Centric Navigation via …

Recent advances in Vision-and-Language Navigation in Continuous Environments (VLN-CE) have leveraged multimodal large language models (MLLMs) to achieve zero-shot navigation. However, existing methods often rely on panoramic observations…

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…

3D visual grounding is crucial for robots, requiring integration of natural language and 3D scene understanding. Traditional methods depending on supervised learning with 3D point clouds are limited by scarce datasets. Recently zero-shot…

We propose VLM-Social-Nav, a novel Vision-Language Model (VLM) based navigation approach to compute a robot's motion in human-centered environments. Our goal is to make real-time decisions on robot actions that are socially compliant with…

Autonomous driving systems remain critically vulnerable to the long-tail of rare, out-of-distribution semantic anomalies. While VLMs have emerged as promising tools for perception, their application in anomaly detection remains largely…

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…

VLA models have shown promising potential in embodied navigation by unifying perception and planning while inheriting the strong generalization abilities of large VLMs. However, most existing VLA models rely on reactive mappings directly…

Recent advances in vision-language models (VLMs) have demonstrated strong generalization in natural image tasks. However, their performance often degrades on unmanned aerial vehicle (UAV)-based aerial imagery, which features high…

Aerial outdoor semantic navigation requires robots to explore large, unstructured environments to locate target objects. Recent advances in semantic navigation have demonstrated open-set object-goal navigation in indoor settings, but these…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…

Vision-and-language navigation (VLN) is a long-standing challenge in autonomous robotics, aiming to empower agents with the ability to follow human instructions while navigating complex environments. Two key bottlenecks remain in this…

Zero-shot object navigation in unknown environments presents significant challenges, mainly due to two key limitations: insufficient semantic guidance leads to inefficient exploration, while limited spatial memory resulting from…

Integrating large language models (LLMs) into embodied AI models is becoming increasingly prevalent. However, existing zero-shot LLM-based Vision-and-Language Navigation (VLN) agents either encode images as textual scene descriptions,…

Vision-and-language navigation (VLN) is a trending topic which aims to navigate an intelligent agent to an expected position through natural language instructions. This work addresses the task of VLN from a previously-ignored aspect, namely…

3D Visual Grounding (3DVG) aims to localize objects in 3D scenes using natural language descriptions. Although supervised methods achieve higher accuracy in constrained settings, zero-shot 3DVG holds greater promise for real-world…

UAVs play an important role in applications such as autonomous exploration, disaster response, and infrastructure inspection. However, UAV VLN in complex 3D environments remains challenging. A key difficulty is the structural representation…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

The Zero-shot Vision-and-Language Navigation in Continuous Environments (VLN-CE) task requires agents to navigate previously unseen 3D environments using natural language instructions, without any scene-specific training. A critical…

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location in 3D environments following the natural language instruction. In this field, the agent is usually trained and evaluated in the navigation simulators,…

Vision-Language Navigation (VLN) requires an embodied agent to navigate complex environments by following natural language instructions, which typically demands tight fusion of visual and language modalities. Existing VLN methods often…