相关论文: OmniVLN: Omnidirectional 3D Perception and Token-E…

Vision-Language Navigation (VLN) tasks often leverage panoramic RGB and depth inputs to provide rich spatial cues for action planning, but these sensors can be costly or less accessible in real-world deployments. Recent approaches based on…

Recent open-world 3D representation learning methods using Vision-Language Models (VLMs) to align 3D point cloud with image-text information have shown superior 3D zero-shot performance. However, CAD-rendered images for this alignment often…

While contemporary Vision-Language Models (VLMs) excel at 2D visual understanding, they remain constrained by a passive, 2D-centric paradigm that severely limits genuine 3D spatial reasoning. To bridge this gap, we introduce Think3D, a…

Vision-and-language navigation (VLN) agents are trained to navigate in real-world environments by following natural language instructions. A major challenge in VLN is the limited availability of training data, which hinders the models'…

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), as a crucial research problem of Embodied AI, requires an embodied agent to navigate through complex 3D environments following natural language instructions. Recent research has highlighted the…

Enabling robotic assistants to navigate complex environments and locate objects described in free-form language is a critical capability for real-world deployment. While foundation models, particularly Vision-Language Models (VLMs), offer…

Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…

Advancing machine intelligence requires developing the ability to perceive across multiple modalities, much as humans sense the world. We introduce OmniVinci, an initiative to build a strong, open-source, omni-modal LLM. We carefully study…

Recent advances in Vision-and-Language Navigation in Continuous Environments (VLN-CE) have leveraged multimodal large language models (MLLMs) to achieve zero-shot navigation. However, existing methods often rely on panoramic observations…

Precise spatial modeling in the operating room (OR) is foundational to many clinical tasks, supporting intraoperative awareness, hazard avoidance, and surgical decision-making. While existing approaches leverage large-scale multimodal…

Vision-and-Language Navigation (VLN) is a task to guide an embodied agent moving to a target position using language instructions. Despite the significant performance improvement, the wide use of fine-grained instructions fails to…

The task of LiDAR-based 3D Open-Vocabulary Detection (3D OVD) requires the detector to learn to detect novel objects from point clouds without off-the-shelf training labels. Previous methods focus on the learning of object-level…

The growing demand for intelligent logistics, particularly fine-grained terminal delivery, underscores the need for autonomous UAV (Unmanned Aerial Vehicle)-based delivery systems. However, most existing last-mile delivery studies rely on…

Generating immersive 3D scenes from texts is a core task in computer vision, crucial for applications in virtual reality and game development. Despite the promise of leveraging 2D diffusion priors, existing methods suffer from spatial…

Vision-Language Navigation (VLN) requires an agent to navigate 3D environments following natural language instructions. During navigation, existing agents commonly encounter perceptual uncertainty, such as insufficient evidence for reliable…

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

In most existing embodied navigation tasks, instructions are well-defined and unambiguous, such as instruction following and object searching. Under this idealized setting, agents are required solely to produce effective navigation outputs…

Humans can flexibly interpret and compose different goal specifications, such as language instructions, spatial coordinates, or visual references, when navigating to a destination. In contrast, most existing robotic navigation policies are…

We present Vision-based Navigation with Language-based Assistance (VNLA), a grounded vision-language task where an agent with visual perception is guided via language to find objects in photorealistic indoor environments. The task emulates…