相关论文: Language-Conditioned World Modeling for Visual Nav…
Vision and Language Navigation (VLN) requires an agent to navigate to a target location by following natural language instructions. Most of existing works represent a navigation candidate by the feature of the corresponding single view…
Little inquiry has explicitly addressed the role of action spaces in language-guided visual navigation -- either in terms of its effect on navigation success or the efficiency with which a robotic agent could execute the resulting…
This paper introduces an innovative application of foundation models, enabling Unmanned Ground Vehicles (UGVs) equipped with an RGB-D camera to navigate to designated destinations based on human language instructions. Unlike learning-based…
To interact effectively with humans in the real world, it is important for agents to understand language that describes the dynamics of the environment--that is, how the environment behaves--rather than just task instructions specifying…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
We study the problem of jointly reasoning about language and vision through a navigation and spatial reasoning task. We introduce the Touchdown task and dataset, where an agent must first follow navigation instructions in a real-life visual…
Vision-language models (VLMs) have been widely-applied in ground-based vision-language navigation (VLN). However, the vast complexity of outdoor aerial environments compounds data acquisition challenges and imposes long-horizon trajectory…
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…
This paper introduces the concept of Language-Guided World Models (LWMs) -- probabilistic models that can simulate environments by reading texts. Agents equipped with these models provide humans with more extensive and efficient control,…
Vision-language models (VLMs) have tremendous potential for grounding language, and thus enabling language-conditioned agents (LCAs) to perform diverse tasks specified with text. This has motivated the study of LCAs based on reinforcement…
Leveraging multimodal large language models (MLLMs) to develop embodied agents offers significant promise for addressing complex real-world tasks. However, current evaluation benchmarks remain predominantly language-centric or heavily…
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…
Vision-Language Navigation (VLN) enables agents to navigate in complex environments by following natural language instructions grounded in visual observations. Although most existing work has focused on ground-based robots or outdoor…
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…
Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…
Vision-and-language navigation (VLN) tasks require agents to navigate three-dimensional environments guided by natural language instructions, offering substantial potential for diverse applications. However, the scarcity of training data…
Vision-Language Navigation (VLN) aims to enable agents to navigate to a target location based on language instructions. Traditional VLN often follows a close-set assumption, i.e., training and test data share the same style of the input…
Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…
We introduce a language-grounded visual prompting method to adapt the visual encoder of vision-language models for downstream tasks. By capitalizing on language integration, we devise a parameter-efficient strategy to adjust the input of…
Vision-and-Language Navigation (VLN) requires agents to autonomously navigate complex environments via visual images and natural language instructions--remains highly challenging. Recent research on enhancing language-guided navigation…