相关论文: GROKE: Vision-Free Navigation Instruction Evaluati…

Vision-Language Navigation (VLN) is a task where agents learn to navigate following natural language instructions. The key to this task is to perceive both the visual scene and natural language sequentially. Conventional approaches exploit…

Large Vision-Language Models (LVLMs) have demonstrated remarkable performance across diverse tasks. Despite great success, recent studies show that LVLMs encounter substantial limitations when engaging with visual graphs. To study the…

Recent ObjectNav systems credit large language models (LLMs) for sizable zero-shot gains, yet it remains unclear how much comes from language versus geometry. We revisit this question by re-evaluating an instruction-guided pipeline,…

Graph neural networks (GNNs) have become the preferred models for node classification in graph data due to their robust capabilities in integrating graph structures and attributes. However, these models heavily depend on a substantial…

Optical Chemical Structure Recognition (OCSR) is essential for converting molecular images into machine-readable formats. While recent vision-language models (VLMs) have shown promise, their image-captioning approach often struggles with…

Large Vision-Language Models (LVLMs) demonstrate a promising direction for assisting individuals with blindness or low-vision (BLV). Yet, measuring their true utility in real-world scenarios is challenging because evaluating whether their…

Vision-Language Navigation (VLN) is a core challenge in embodied AI, requiring agents to navigate real-world environments using natural language instructions. Current language model-based navigation systems operate on discrete topological…

Scene Graph Generation (SGG) encodes visual relationships between objects in images as graph structures. Thanks to the advances of Vision-Language Models (VLMs), the task of Open-Vocabulary SGG has been recently proposed where models are…

Vision-and-Language Navigation requires an embodied agent to navigate through unseen environments, guided by natural language instructions and a continuous video stream. Recent advances in VLN have been driven by the powerful semantic…

Vision-and-Language Navigation (VLN) is a challenging task where an agent must understand language instructions and navigate unfamiliar environments using visual cues. The agent must accurately locate the target based on visual information…

We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…

Autonomous navigation in unfamiliar environments often relies on geometric mapping and planning strategies that overlook rich semantic cues such as signs, room numbers, and textual labels. We propose a novel semantic navigation framework…

Aerial navigation is a fundamental yet underexplored capability in embodied intelligence, enabling agents to operate in large-scale, unstructured environments where traditional navigation paradigms fall short. However, most existing…

We present a novel trajectory traversability estimation and planning algorithm for robot navigation in complex outdoor environments. We incorporate multimodal sensory inputs from an RGB camera, 3D LiDAR, and the robot's odometry sensor 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…

Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit geometry and multi-scale semantics, and lack a native…

Object-goal navigation is a challenging task that requires guiding an agent to specific objects based on first-person visual observations. The ability of agent to comprehend its surroundings plays a crucial role in achieving successful…

Embodied visual navigation remains a challenging task, as agents must explore unknown environments with limited knowledge. Existing zero-shot studies have shown that incorporating memory mechanisms to support goal-directed behavior can…

Vision-and-language navigation (VLN) is the task to enable an embodied agent to navigate to a remote location following the natural language instruction in real scenes. Most of the previous approaches utilize the entire features or…

Enabling robots to perform precise and generalized manipulation in unstructured environments remains a fundamental challenge in embodied AI. While Vision-Language Models (VLMs) have demonstrated remarkable capabilities in semantic reasoning…