相关论文: Trajectory-Diversity-Driven Robust Vision-and-Lang…

Real-world deployment of Vision-and-Language Navigation (VLN) agents is constrained by the scarcity of reliable supervision after offline training. While recent adaptation methods attempt to mitigate distribution shifts via…

Vision-Language Navigation in Continuous Environments (VLN-CE) requires an embodied agent to navigate towards target in continuous environments, following natural language instructions. While current graph-based methods offer an efficient,…

As embodied AI transitions to real-world deployment, the success of the Vision-and-Language Navigation (VLN) task tends to evolve from mere reachability to social compliance. However, current agents suffer from a "goal-driven trap",…

In this work we concentrate on the task of goal-oriented Vision-and-Language Navigation (VLN). Existing methods often make decisions based on historical information, overlooking the future implications and long-term outcomes of the actions.…

Safe and feasible trajectory planning is critical for real-world autonomous driving systems. However, existing learning-based planners rely heavily on expert demonstrations, which not only lack explicit safety awareness but also risk…

Vision-Language Navigation (VLN) requires embodied agents to interpret natural language instructions and navigate through complex continuous 3D environments. However, the dominant imitation learning paradigm suffers from exposure bias,…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…

To be successful, Vision-and-Language Navigation (VLN) agents must be able to ground instructions to actions based on their surroundings. In this work, we develop a methodology to study agent behavior on a skill-specific basis -- examining…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Vision-and-Language Navigation (VLN) is a challenging task where an agent is required to navigate to a natural language described location via vision observations. The navigation abilities of the agent can be enhanced by the relations…

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…

Vision-Language-Action (VLA) models show strong generalization for robotic control, but finetuning them with reinforcement learning (RL) is constrained by the high cost and safety risks of real-world interaction. Training VLA models in…

Vision-language models (VLMs) often struggle with geometric reasoning due to their limited perception of fundamental diagram elements. To tackle this challenge, we introduce GeoPerceive, a benchmark comprising diagram instances paired with…

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…

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

While Reinforcement Learning from Verifiable Rewards (RLVR) has advanced reasoning in Large Vision-Language Models (LVLMs), prevailing frameworks suffer from a foundational methodological flaw: by distributing identical advantages across…

Recent advances at the intersection of reinforcement learning (RL) and visual intelligence have enabled agents that not only perceive complex visual scenes but also reason, generate, and act within them. This survey offers a critical and…

Existing Reinforcement Learning from Verifiable Rewards (RLVR) methods, such as Group Relative Policy Optimization (GRPO), have achieved remarkable progress in improving the reasoning capabilities of Large Reasoning Models (LRMs). However,…