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

Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…

Existing navigation decision support systems often perform poorly when handling non-predefined navigation scenarios. Leveraging the generalization capabilities of large language model (LLM) in handling unknown scenarios, this research…

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…

Existing robot policies predominantly adopt the task-centric approach, requiring end-to-end task data collection. This results in limited generalization to new tasks and difficulties in pinpointing errors within long-horizon, multi-stage…

Increased robot deployment, such as in warehousing, has revealed a need for seamless collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To address this challenge, we propose a novel, decentralized framework for…

Visual Simultaneous Localization and Mapping (VSLAM) research faces significant challenges due to fragmented toolchains, complex system configurations, and inconsistent evaluation methodologies. To address these issues, we present…

Navigating dilemmas involving conflicting values is challenging even for humans in high-stakes domains, let alone for AI, yet prior work has been limited to everyday scenarios. To close this gap, we introduce CLASH (Character…

The growing demand for intelligent logistics, particularly fine-grained terminal delivery, underscores the need for autonomous UAV (Unmanned Aerial Vehicle)-based delivery systems. However, most existing last-mile delivery studies rely on…

Large Language Models (LLMs) have been shown to be capable of performing high-level planning for long-horizon robotics tasks, yet existing methods require access to a pre-defined skill library (e.g. picking, placing, pulling, pushing,…

Aerial vision-and-language navigation (VLN), requiring drones to interpret natural language instructions and navigate complex urban environments, emerges as a critical embodied AI challenge that bridges human-robot interaction, 3D spatial…

Despite the significant improvements achieved by large language models (LLMs) in English reasoning tasks, these models continue to struggle with multilingual reasoning. Recent studies leverage a full-parameter and two-stage training…

Vision language models (VLMs) perform well on many tasks but often fail at spatial reasoning, which is essential for navigation and interaction with physical environments. Many spatial reasoning tasks depend on fundamental two-dimensional…

Large-scale disaster Search And Rescue (SAR) operations are persistently challenged by complex terrain and disrupted communications. While Unmanned Aerial Vehicle (UAV) swarms offer a promising solution for tasks like wide-area search and…

Conventional Vision-and-Language Navigation (VLN) benchmarks assume instructions are feasible and the referenced target exists, leaving agents ill-equipped to handle false-premise goals. We introduce VLN-NF, a benchmark with false-premise…

Aligning vision and language concepts at a finer level remains an essential topic of multimodal large language models (MLLMs), particularly for tasks such as referring and grounding. Existing methods, such as proxy encoding and geometry…

Visual language navigation (VLN) is an embodied task demanding a wide range of skills encompassing understanding, perception, and planning. For such a multifaceted challenge, previous VLN methods totally rely on one model's own thinking to…

While multimodal large language models (MLLMs) have made substantial progress in single-image spatial reasoning, multi-image spatial reasoning, which requires integration of information from multiple viewpoints, remains challenging.…

With the flourishing of social media platforms, vision-language pre-training (VLP) recently has received great attention and many remarkable progresses have been achieved. The success of VLP largely benefits from the information…

Vision-Language Navigation (VLN) is evolving from single-point pathfinding toward the more challenging Multi-Goal VLN. This task requires agents to accurately identify multiple entities while collaboratively reasoning over their…

Vision language models (VLMs) are an exciting emerging class of language models (LMs) that have merged classic LM capabilities with those of image processing systems. However, the ways that these capabilities combine are not always…