相关论文: HiMemVLN: Enhancing Reliability of Open-Source Zer…

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…

Object Goal Navigation-requiring an agent to locate a specific object in an unseen environment-remains a core challenge in embodied AI. Although recent progress in Vision-Language Model (VLM)-based agents has demonstrated promising…

Visual-Language Navigation (VLN) is a fundamental challenge in robotic systems, with broad applications for the deployment of embodied agents in real-world environments. Despite recent advances, existing approaches are limited in long-range…

Visual navigation is an essential skill for home-assistance robots, providing the object-searching ability to accomplish long-horizon daily tasks. Many recent approaches use Large Language Models (LLMs) for commonsense inference to improve…

Zero-shot object navigation (ZSON) in unseen environments remains a challenging problem for household robots, requiring strong perceptual understanding and decision-making capabilities. While recent methods leverage metric maps and Large…

The expansion of instruction-tuning data has enabled foundation language models to exhibit improved instruction adherence and superior performance across diverse downstream tasks. Semantically-rich 3D human motion is being progressively…

Vision-language models (VLMs) and the recent surge of Multimodal Large Language Models (MLLMs) have revolutionized artificial intelligence with unprecedented cross-modal alignment and zero-shot generalization. However, enabling them to…

Capitalizing on the remarkable advancements in Large Language Models (LLMs), there is a burgeoning initiative to harness LLMs for instruction following robotic navigation. Such a trend underscores the potential of LLMs to generalize…

Object-goal navigation has traditionally been limited to ground robots with closed-set object vocabularies. Existing multi-agent approaches depend on precomputed probabilistic graphs tied to fixed category sets, precluding generalization to…

We propose the zero-shot Vision-and-Language Navigation with Collision Mitigation (VLN-CM), which takes these considerations. VLN-CM is composed of four modules and predicts the direction and distance of the next movement at each step. We…

In vision-and-language navigation (VLN), an embodied agent is required to navigate in realistic 3D environments following natural language instructions. One major bottleneck for existing VLN approaches is the lack of sufficient training…

Navigating towards fully open language goals and exploring open scenes in an intelligent way have always raised significant challenges. Recently, Vision Language Models (VLMs) have demonstrated remarkable capabilities to reason with both…

Developing agents capable of navigating to a target location based on language instructions and visual information, known as vision-language navigation (VLN), has attracted widespread interest. Most research has focused on ground-based…

Breakthrough progress in vision-based navigation through unknown environments has been achieved by using multimodal large language models (MLLMs). These models can plan a sequence of motions by evaluating the current view at each time step…

Vision-language-action (VLA) models for closed-loop robot control are typically cast under the Markov assumption, making them prone to errors on tasks requiring historical context. To incorporate memory, existing VLAs either retrieve from a…

Vision-and-Language Navigation (VLN) in real-world settings requires agents to process continuous visual streams and generate actions with low latency grounded in language instructions. While Video-based Large Language Models (Video-LLMs)…

Vision-and-Language Navigation (VLN) requires an embodied agent to ground complex natural-language instructions into long-horizon navigation in unseen environments. While Vision-Language Models (VLMs) offer strong 2D semantic understanding,…

Sequential-Horizon Vision-and-Language Navigation (SH-VLN) presents a challenging scenario where agents should sequentially execute multi-task navigation guided by complex, long-horizon language instructions. Current vision-and-language…

Large language model (LLM) agents demonstrate strong performance in short-text contexts but often underperform in extended dialogues due to inefficient memory management. Existing approaches face a fundamental trade-off between efficiency…

Detecting anomalous hazards in visual data, particularly in video streams, is a critical challenge in autonomous driving. Existing models often struggle with unpredictable, out-of-label hazards due to their reliance on predefined object…