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

Vision-and-Language Navigation (VLN) aims to develop intelligent agents to navigate in unseen environments only through language and vision supervision. In the recently proposed continuous settings (continuous VLN), the agent must act in a…

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…

Autonomous landing is essential for drones deployed in emergency deliveries, post-disaster response, and other large-scale missions. By enabling self-docking on charging platforms, it facilitates continuous operation and significantly…

Robot navigation in dynamic, human-centered environments requires socially-compliant decisions grounded in robust scene understanding. Recent Vision-Language Models (VLMs) exhibit promising capabilities such as object recognition,…

Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to execute sequential navigation actions in complex environments guided by natural language instructions. Current approaches often struggle with generalizing…

Oyster reefs are critical ecosystem species that sustain biodiversity, filter water, and protect coastlines, yet they continue to decline globally. Restoring these ecosystems requires regular underwater monitoring to assess reef health, a…

We unveil that internal representations in large language models (LLMs) serve as reliable proxies of learned knowledge, and propose RECALL, a novel representation-aware model merging framework for continual learning without access to…

Multimodal Large Language Models (MLLMs) frequently hallucinate due to their reliance on fragile, linear reasoning and weak visual grounding. We propose Visual Attention Reasoning (VAR), a reinforcement learning framework that reformulates…

Evaluating Large Language Models (LLMs) has become increasingly important, with automatic evaluation benchmarks gaining prominence as alternatives to human evaluation. While existing research has focused on approximating model rankings,…

Robot swarms are composed of many simple robots that communicate and collaborate to fulfill complex tasks. Robot controllers usually need to be specified by experts on a case-by-case basis via programming code. This process is…

We propose a new Verbal Reinforcement Learning (VRL) framework for interpretable task-level planning in mobile robotic systems operating under execution uncertainty. The framework follows a closed-loop architecture that enables iterative…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

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…

We introduce ViLAM, a novel method for distilling vision-language reasoning from large Vision-Language Models (VLMs) into spatial attention maps for socially compliant robot navigation. Unlike traditional methods that rely on expert…

Robotic navigation in complex environments remains a critical research challenge. Traditional navigation methods focus on optimal trajectory generation within fixed free workspace, therefore struggling in environments lacking viable paths…

Large Language Models (LLMs) demonstrate remarkable capabilities in leveraging comprehensive world knowledge and sophisticated reasoning mechanisms for recommendation tasks. However, a notable limitation lies in their inability to…

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…

VLN has achieved remarkable progress by scaling data and model capacity. However, the assumption of a static environment breaks down in real-world indoor scenarios, where robots inevitably encounter dynamic pedestrians. Existing human-aware…

This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomous Driving (AD). LVLMs excel at high-level task planning…