相关论文: MSGNav: Unleashing the Power of Multi-modal 3D Sce…

In this paper, we propose a new framework for zero-shot object navigation. Existing zero-shot object navigation methods prompt LLM with the text of spatially closed objects, which lacks enough scene context for in-depth reasoning. To better…

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).…

Autonomous language-guided navigation in large-scale outdoor environments remains a key challenge in mobile robotics, due to difficulties in semantic reasoning, dynamic conditions, and long-term stability. We propose CausalNav, the first…

We present MG-Nav (Memory-Guided Navigation), a dual-scale framework for zero-shot visual navigation that unifies global memory-guided planning with local geometry-enhanced control. At its core is the Sparse Spatial Memory Graph (SMG), a…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…

While multimodal large language models (MLLMs) have made groundbreaking progress in embodied intelligence, they still face significant challenges in spatial reasoning for complex long-horizon tasks. To address this gap, we propose…

Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…

Navigating to instance-level targets in complex environments is a challenging problem. Many existing zero-shot methods achieve strong performance by modeling the entire environment and leveraging large language models for scene…

Enabling robots to navigate open-world environments via natural language is critical for general-purpose autonomy. Yet, Vision-Language Navigation has relied on end-to-end policies trained on expensive, embodiment-specific robot data. While…

Although learning-based vision-and-language navigation (VLN) agents can learn spatial knowledge implicitly from large-scale training data, zero-shot VLN agents lack this process, relying primarily on local observations for navigation, which…

Recent advances in Large Language Models (LLMs) have helped facilitate exciting progress for robotic planning in real, open-world environments. 3D scene graphs (3DSGs) offer a promising environment representation for grounding such…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…

Open-vocabulary 3D Scene Graph (3DSG) can enhance various downstream tasks in robotics by leveraging structured semantic representations, yet current 3DSG construction methods suffer from semantic inconsistencies caused by noisy cross-image…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approaches require substantial amounts of…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

Aligning 3D scene graphs is a crucial initial step for several applications in robot navigation and embodied perception. Current methods in 3D scene graph alignment often rely on single-modality point cloud data and struggle with incomplete…

Zero-shot object navigation requires agents to locate unseen target objects in unfamiliar environments without prior maps or task-specific training which remains a significant challenge. Although recent advancements in vision-language…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…