相关论文: STRIDER: Navigation via Instruction-Aligned Struct…

Rapid adaptation in unseen environments is essential for scalable real-world autonomy, yet existing approaches rely on exhaustive exploration or rigid navigation policies that fail to generalize. We present VLN-Zero, a two-phase…

Unlocking spatial reasoning in Multimodal Large Language Models (MLLMs) is crucial for enabling intelligent interaction with 3D environments. While prior efforts often rely on explicit 3D inputs or specialized model architectures, we ask:…

Spatial cognition is essential for human intelligence, enabling problem-solving through visual simulations rather than solely relying on verbal reasoning. However, existing AI benchmarks primarily assess verbal reasoning, neglecting the…

Interactive robots navigating photo-realistic environments need to be trained to effectively leverage and handle the dynamic nature of dialogue in addition to the challenges underlying vision-and-language navigation (VLN). In this paper, we…

Autonomous flight in unknown environments requires precise spatial and temporal trajectory planning, often involving computationally expensive nonconvex optimization prone to local optima. To overcome these challenges, we present the…

Vision-and-Language Navigation (VLN) is a core task where embodied agents leverage their spatial mobility to navigate in 3D environments toward designated destinations based on natural language instructions. Recently, video-language large…

Vision Language Navigation in Continuous Environments (VLN-CE) represents a frontier in embodied AI, demanding agents to navigate freely in unbounded 3D spaces solely guided by natural language instructions. This task introduces distinct…

Vision-and-language navigation (VLN) simulates a visual agent that follows natural-language navigation instructions in real-world scenes. Existing approaches have made enormous progress in navigation in new environments, such as beam…

Shared autonomy systems require principled methods for inferring user intent and determining appropriate assistance levels. This is a central challenge in human-robot interaction, where systems must be successful while being mindful of user…

We introduce STRIVE (SpatioTemporal Reinforcement with Importance-aware Variant Exploration), a structured reinforcement learning framework for video question answering. While group-based policy optimization methods have shown promise in…

Gradient clipping is a standard training technique used in deep learning applications such as large-scale language modeling to mitigate exploding gradients. Recent experimental studies have demonstrated a fairly special behavior in the…

Recent advances in large vision-language models (VLMs) and large language models (LLMs) have enabled zero-shot approaches to visual language navigation (VLN), where an agent follows natural language instructions using only ego perception…

Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…

Existing Vision-Language Navigation (VLN) methods primarily focus on single-stage navigation, limiting their effectiveness in multi-stage and long-horizon tasks within complex and dynamic environments. To address these limitations, we…

Zero-shot 3D visual grounding requires localizing objects in unstructured environments from free-form natural language. Recent vision-language model (VLM) approaches achieve promising results but rely on view-dependent reasoning or implicit…

In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…

While contemporary Vision-Language Models (VLMs) excel at 2D visual understanding, they remain constrained by a passive, 2D-centric paradigm that severely limits genuine 3D spatial reasoning. To bridge this gap, we introduce Think3D, a…

Vision-Language Navigation in Continuous Environments (VLN-CE) requires agents to learn complex reasoning from long-horizon human interactions. While Multi-modal Large Language Models (MLLMs) have driven recent progress, current training…

The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named…

Object-goal visual navigation aims to reach a specific target object using egocentric visual observations. Recent deep reinforcement learning (DRL) approaches have achieved promising success rates but often neglect collisions during…