相关论文: SpatialNav: Leveraging Spatial Scene Graphs for Ze…

Zero-shot object navigation in unknown environments presents significant challenges, mainly due to two key limitations: insufficient semantic guidance leads to inefficient exploration, while limited spatial memory resulting from…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

We present DyNaVLM, an end-to-end vision-language navigation framework using Vision-Language Models (VLM). In contrast to prior methods constrained by fixed angular or distance intervals, our system empowers agents to freely select…

Visual navigation has received significant attention recently. Most of the prior works focus on predicting navigation actions based on semantic features extracted from visual encoders. However, these approaches often rely on large datasets…

Semantic navigation requires an agent to navigate toward a specified target in an unseen environment. Employing an imaginative navigation strategy that predicts future scenes before taking action, can empower the agent to find target…

Language-guided embodied navigation requires an agent to interpret object-referential instructions, search across multiple rooms, localize the referenced target, and execute reliable motion toward it. Existing systems remain limited in real…

Vision-and-Language Navigation (VLN) has long been constrained by the limited diversity and scalability of simulator-curated datasets, which fail to capture the complexity of real-world environments. To overcome this limitation, we…

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…

Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…

The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named…

Embodied agents equipped with GPT as their brains have exhibited extraordinary decision-making and generalization abilities across various tasks. However, existing zero-shot agents for vision-and-language navigation (VLN) only prompt GPT-4…

Vision and language models (VLMs) have demonstrated remarkable zero-shot (ZS) performance in a variety of tasks. However, recent works have shown that even the best VLMs struggle to capture aspects of compositional scene understanding, such…

3D Visual Grounding (3DVG) aims to localize target objects within a 3D scene based on natural language queries. To alleviate the reliance on costly 3D training data, recent studies have explored zero-shot 3DVG by leveraging the extensive…

Embodied navigation is a fundamental capability for robotic agents operating. Real-world deployment requires open vocabulary generalization and low training overhead, motivating zero-shot methods rather than task-specific RL training.…

Zero-shot object-goal navigation aims to find target objects in unseen environments using only egocentric observation. Recent methods leverage foundation models' comprehension and reasoning capabilities to enhance navigation performance.…

Vision-language navigation (VLN) has emerged as a promising paradigm, enabling mobile robots to perform zero-shot inference and execute tasks without specific pre-programming. However, current systems often separate map exploration and path…

This paper focuses on visual semantic navigation, the task of producing actions for an active agent to navigate to a specified target object category in an unknown environment. To complete this task, the algorithm should simultaneously…

Vision-and-language navigation (VLN) simulates a visual agent that follows natural-language navigation instructions in real-world scenes. Existing approaches have made enormous progress in navigation in new environments, such as beam…

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location in 3D environments following the natural language instruction. In this field, the agent is usually trained and evaluated in the navigation simulators,…

The ability to perform effective planning is crucial for building an instruction-following agent. When navigating through a new environment, an agent is challenged with (1) connecting the natural language instructions with its progressively…