相关论文: ReasonNavi: Human-Inspired Global Map Reasoning fo…

Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in delivering detailed spatial information and precise guidance…

Embodied agents are expected to perform object navigation in dynamic, open-world environments. However, existing approaches typically rely on static trajectories and a fixed set of object categories during training, overlooking the…

Robotic search of people in human-centered environments, including healthcare settings, is challenging as autonomous robots need to locate people without complete or any prior knowledge of their schedules, plans or locations. Furthermore,…

Failure is inevitable for embodied navigation in complex environments. To enhance the resilience, replanning (RP) is a viable option, where the robot is allowed to fail, but is capable of adjusting plan until success. However, existing RP…

Human mobility prediction is a critical task but remains challenging due to its complexity and variability across populations and regions. Recently, large language models (LLMs) have made progress in zero-shot prediction, but existing…

Humans navigate unfamiliar environments using episodic simulation and episodic memory, which facilitate a deeper understanding of the complex relationships between environments and objects. Developing an imaginative memory system inspired…

Reasoning lies at the heart of intelligence, shaping the ability to make decisions, draw conclusions, and generalize across domains. In artificial intelligence, as systems increasingly operate in open, uncertain, and multimodal…

We introduce a neural architecture for navigation in novel environments. Our proposed architecture learns to map from first-person views and plans a sequence of actions towards goals in the environment. The Cognitive Mapper and Planner…

In order to flexibly act in an everyday environment, a robotic agent needs a variety of cognitive capabilities that enable it to reason about plans and perform execution recovery. Large language models (LLMs) have been shown to demonstrate…

In recent years, the field of indoor navigation has witnessed groundbreaking advancements through the integration of Large Language Models (LLMs). Traditional navigation approaches relying on pre-built maps or reinforcement learning exhibit…

Vision-Language Navigation (VLN) approaches have currently followed two primary paradigms: the end-to-end Vision-Language Model (VLM) policy fine-tuned on navigation trajectories to directly predict actions, and the zero-shot modular…

Multimodal large language models (MLLMs) have shown strong capabilities but remain limited to fixed modality pairs and require costly fine-tuning with large aligned datasets. Building fully omni-capable models that can integrate text,…

Embodied AI has been recently gaining attention as it aims to foster the development of autonomous and intelligent agents. In this paper, we devise a novel embodied setting in which an agent needs to explore a previously unknown environment…

Visual reasoning -- the ability to interpret the visual world -- is crucial for embodied agents that operate within three-dimensional scenes. Progress in AI has led to vision and language models capable of answering questions from images.…

Text-guided object segmentation requires both cross-modal reasoning and pixel grounding abilities. Most recent methods treat text-guided segmentation as one-shot grounding, where the model predicts pixel prompts in a single forward pass to…

Recent open-vocabulary robot mapping methods enrich dense geometric maps with pre-trained visual-language features, achieving a high level of detail and guiding robots to find objects specified by open-vocabulary language queries. While the…

Building a conversational embodied agent to execute real-life tasks has been a long-standing yet quite challenging research goal, as it requires effective human-agent communication, multi-modal understanding, long-range sequential decision…

Vision-language-action (VLA) reasoning tasks require agents to interpret multimodal instructions, perform long-horizon planning, and act adaptively in dynamic environments. Existing approaches typically train VLA models in an end-to-end…

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…

Large language models (LLMs) have shown remarkable reasoning capabilities, especially when prompted to generate intermediate reasoning steps (e.g., Chain-of-Thought, CoT). However, LLMs can still struggle with problems that are easy for…