相关论文: AstraNav-Memory: Contexts Compression for Long Mem…

"Embodied visual navigation" problem requires an agent to navigate in a 3D environment mainly rely on its first-person observation. This problem has attracted rising attention in recent years due to its wide application in autonomous…

The synergy of long-range dependencies from transformers and local representations of image content from convolutional neural networks (CNNs) has led to advanced architectures and increased performance for various medical image analysis…

This paper presents a context key/value compression method for Transformer language models in online scenarios, where the context continually expands. As the context lengthens, the attention process demands increasing memory and…

With the increasing complexity of video data and the need for more efficient long-term temporal understanding, existing long-term video understanding methods often fail to accurately capture and analyze extended video sequences. These…

Compression and reconstruction of visual data have been widely studied in the computer vision community, even before the popularization of deep learning. More recently, some have used deep learning to improve or refine existing pipelines,…

To help bridge the gap between internet vision-style problems and the goal of vision for embodied perception we instantiate a large-scale navigation task -- Embodied Question Answering [1] in photo-realistic environments (Matterport 3D). We…

Vision-language navigation (VLN) is a critical domain within embedded intelligence, requiring agents to navigate 3D environments based on natural language instructions. Traditional VLN research has focused on improving environmental…

Most recent work in goal oriented visual navigation resorts to large-scale machine learning in simulated environments. The main challenge lies in learning compact representations generalizable to unseen environments and in learning…

Deep neural object detection or segmentation networks are commonly trained with pristine, uncompressed data. However, in practical applications the input images are usually deteriorated by compression that is applied to efficiently transmit…

Long video understanding requires more than large context windows. It also needs a memory mechanism that decides what visual evidence to retain, keeps it searchable over long horizons, and grounds later reasoning in recoverable observations…

Recent embodied navigation approaches leveraging Vision-Language Models (VLMs) demonstrate strong generalization in versatile Vision-Language Navigation (VLN). However, reliable path planning in complex environments remains challenging due…

We present a single neural network architecture composed of task-agnostic components (ViTs, convolutions, and LSTMs) that achieves state-of-art results on both the ImageNav ("go to location in <this picture>") and ObjectNav ("find a chair")…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

Visual language models encounter challenges in computational efficiency and latency, primarily due to the substantial redundancy in the token representations of high-resolution images and videos. Current attention/similarity-based…

An emerging paradigm in vision-and-language navigation (VLN) is the use of history-aware multi-modal transformer models. Given a language instruction, these models process observation and navigation history to predict the most appropriate…

Multi-agent systems built on Large Language Models (LLMs) show exceptional promise for complex collaborative problem-solving, yet they face fundamental challenges stemming from context window limitations that impair memory consistency, role…

Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving…

Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…

Object navigation (ObjectNav) in real-world environments is a complex problem that requires simultaneously addressing multiple challenges, including complex spatial structure, long-horizon planning and semantic understanding. Recent…

The computational expense of redundant vision tokens in Large Vision-Language Models (LVLMs) has led many existing methods to compress them via a vision projector. However, this compression may lose visual information that is crucial for…