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

We explore the use of language as a perceptual representation for vision-and-language navigation (VLN), with a focus on low-data settings. Our approach uses off-the-shelf vision systems for image captioning and object detection to convert…

Vision-and-language navigation (VLN) aims to enable embodied agents to navigate in realistic environments using natural language instructions. Given the scarcity of domain-specific training data and the high diversity of image and language…

Vision-Language-Action (VLA) models have emerged as a powerful paradigm in Embodied AI. However, the significant computational overhead of processing redundant visual tokens remains a critical bottleneck for real-time robotic deployment.…

Embodied agents, trained to explore and navigate indoor photorealistic environments, have achieved impressive results on standard datasets and benchmarks. So far, experiments and evaluations have involved domestic and working scenes like…

Over more than a decade there has been an extensive research effort on how to effectively utilize recurrent models and attention. While recurrent models aim to compress the data into a fixed-size memory (called hidden state), attention…

Recent Vision-Language Models (VLMs) have demonstrated remarkable multimodal understanding capabilities, yet the redundant visual tokens incur prohibitive computational overhead and degrade inference efficiency. Prior studies typically…

To support long-term interaction in complex environments, LLM agents require memory systems that manage historical experiences. Existing approaches either retain full interaction histories via passive context extension, leading to…

Robust obstacle avoidance is one of the critical steps for successful goal-driven indoor navigation tasks.Due to the obstacle missing in the visual image and the possible missed detection issue, visual image-based obstacle avoidance…

Vision-Language-Action (VLA) models offer a unified framework for robotic perception and control, but their ability to scale to real-world, long-horizon tasks is limited by the high computational cost of attention and the large memory…

Large Multimodal Models (LMMs) have demonstrated impressive performance in short video understanding tasks but face great challenges when applied to long video understanding. In contrast, Large Language Models (LLMs) exhibit outstanding…

Memory retention challenges in deep neural architectures have ongoing limitations in the ability to process and recall extended contextual information. Token dependencies degrade as sequence length increases, leading to a decline in…

Vision Transformers (ViTs) have emerged as state-of-the-art models for various vision tasks recently. However, their heavy computation costs remain daunting for resource-limited devices. To address this, researchers have dedicated…

Unmanned underwater image analysis for marine monitoring faces two key challenges: (i) degraded image quality due to light attenuation and (ii) hardware storage constraints limiting high-resolution image collection. Existing methods…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

Learning physical dynamics in a series of non-stationary environments is a challenging but essential task for model-based reinforcement learning (MBRL) with visual inputs. It requires the agent to consistently adapt to novel tasks without…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

As Large Language Models (LLMs) scale to support context windows exceeding one million tokens, the linear growth of Key-Value (KV) cache imposes severe memory capacity and bandwidth bottlenecks, constraining the efficiency of long-context…

Although large language models (LLMs) are introduced into vision-and-language navigation (VLN) to improve instruction comprehension and generalization, existing LLM- based VLN lacks the ability to selectively recall and use relevant priori…

Images are a convenient way to specify which particular object instance an embodied agent should navigate to. Solving this task requires semantic visual reasoning and exploration of unknown environments. We present a system that can perform…

The rapid progress of large language models (LLMs) has laid the foundation for multimodal models. However, visual language models (VLMs) still face heavy computational costs when extended from images to videos due to high frame rates and…