相关论文: SpatialFly: Geometry-Guided Representation Alignme…
Aerial robots play a vital role in various applications where the situational awareness of the robots concerning the environment is a fundamental demand. As one such use case, drones in GPS-denied environments require equipping with…
Inspection of confined infrastructure such as culverts often requires accessing hidden spaces whose entrances are reachable primarily from elevated viewpoints. Aerial-ground cooperation enables a UAV to deploy a compact UGV for interior…
Autonomous navigation under natural language instructions represents a crucial step toward embodied intelligence, enabling complex task execution in environments ranging from industrial facilities to domestic spaces. However,…
Despite recent advances on multi-modal models, 3D spatial reasoning remains a challenging task for state-of-the-art open-source and proprietary models. Recent studies explore data-driven approaches and achieve enhanced spatial reasoning…
Empowered by large-scale training, vision-language models (VLMs) achieve strong image and video understanding, yet their ability to perform spatial reasoning in both static scenes and dynamic videos remains limited. Recent advances try to…
Accurate perception of UAVs in complex low-altitude environments is critical for airspace security and related intelligent systems. Developing reliable solutions requires large-scale, accurately annotated, and multimodal data. However,…
Existing Vision-Language Navigation (VLN) task requires agents to follow verbose instructions, ignoring some potentially useful global spatial priors, limiting their capability to reason about spatial structures. Although human-readable…
Although learning-based vision-and-language navigation (VLN) agents can learn spatial knowledge implicitly from large-scale training data, zero-shot VLN agents lack this process, relying primarily on local observations for navigation, which…
Spatial intelligence in vision-language models (VLMs) attracts research interest with the practical demand to reason in the 3D world.Despite promising results, most existing methods follow the conventional 2D pipeline in VLMs and use…
Multimodal Large Language Models (MLLMs) demonstrate exceptional semantic reasoning but struggle with 3D spatial perception when restricted to pure RGB inputs. Despite leveraging implicit geometric priors from 3D reconstruction models,…
UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over long horizons. Existing zero-shot methods remain limited, as…
Illumination inconsistency is a fundamental challenge in multi-view 3D reconstruction. Variations in sunlight direction, cloud cover, and shadows break the constant-lighting assumption underlying both classical multi-view stereo (MVS) and…
Autonomous drones capable of interpreting and executing high-level language instructions in unstructured environments remain a long-standing goal. Yet existing approaches are constrained by their dependence on hand-crafted skills, extensive…
Recent Vision-and-Language Navigation (VLN) advancements are promising, but their idealized assumptions about robot movement and control fail to reflect physically embodied deployment challenges. To bridge this gap, we introduce VLN-PE, a…
Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…
Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…
Recent advancements in Multimodal Large Language Models (MLLMs) have significantly enhanced performance on 2D visual tasks. However, improving their spatial intelligence remains a challenge. Existing 3D MLLMs always rely on additional 3D or…
Aerial Vision-and-Language Navigation (VLN) is an emerging task that enables Unmanned Aerial Vehicles (UAVs) to navigate outdoor environments using natural language instructions and visual cues. However, due to the extended trajectories and…