相关论文: CLASH: Collaborative Large-Small Hierarchical Fram…

Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…

The integration of Large Language Models (LLMs) with Neural Architecture Search (NAS) has introduced new possibilities for automating the design of neural architectures. However, most existing methods face critical limitations, including…

Recent advancements in vision-language-action (VLA) models have shown promise in robotic manipulation, yet they continue to struggle with long-horizon, multi-step tasks. Existing methods lack internal reasoning mechanisms that can identify…

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…

The integration of large language models (LLMs) with external tools has significantly expanded the capabilities of AI agents. However, as the diversity of both LLMs and tools increases, selecting the optimal model-tool combination becomes a…

Vision-Language Navigation (VLN) approaches have currently followed two primary paradigms: the end-to-end Vision-Language Model (VLM) policy fine-tuned on navigation trajectories to directly predict actions, and the zero-shot modular…

Inspired by the general Vision-and-Language Navigation (VLN) task, aerial VLN has attracted widespread attention, owing to its significant practical value in applications such as logistics delivery and urban inspection. However, existing…

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…

Spatial reasoning is a core aspect of human intelligence that allows perception, inference and planning in 3D environments. However, current vision-language models (VLMs) struggle to maintain geometric coherence and cross-view consistency…

Recent advances in large language models (LLMs) provide robots with contextual reasoning abilities to comprehend human instructions. Yet, current LLM-enabled robots typically depend on cloud-based models or high-performance computing…

Vision-and-Language navigation (VLN) requires an agent to navigate in unseen environment by following natural language instruction. For task completion, the agent needs to align and integrate various navigation modalities, including…

Vision-and-Language Navigation for Unmanned Aerial Vehicles (UAV-VLN) represents a pivotal challenge in embodied artificial intelligence, focused on enabling UAVs to interpret high-level human commands and execute long-horizon tasks in…

Aerial Vision-and-Language Navigation (VLN) is a novel task enabling Unmanned Aerial Vehicles (UAVs) to navigate in outdoor environments through natural language instructions and visual cues. However, it remains challenging due to the…

While large language models (LLMs) have shown great potential across various domains, their applications in robotics remain largely limited to static prompt-based behaviors and still face challenges in complex tasks under zero-shot or…

Vision-and-Language Navigation (VLN) in continuous environments requires agents to interpret natural language instructions while navigating unconstrained 3D spaces. Existing VLN-CE frameworks rely on a two-stage approach: a waypoint…

Large Language Models (LLMs) possess extensive foundational knowledge and moderate reasoning abilities, making them suitable for general task planning in open-world scenarios. However, it is challenging to ground a LLM-generated plan to be…

Visual Object Goal Navigation (ObjectNav) requires a robot to locate a target object in an unseen environment using egocentric observations. However, decision-making policies often struggle to transfer to unseen environments and novel…

Vision-Language Navigation (VLN) requires the agent to follow language instructions to reach a target position. A key factor for successful navigation is to align the landmarks implied in the instruction with diverse visual observations.…

Vision-language models (VLMs) are essential to Embodied AI, enabling robots to perceive, reason, and act in complex environments. They also serve as the foundation for the recent Vision-Language-Action (VLA) models. Yet most evaluations of…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…