相关论文: Dual-Anchoring: Addressing State Drift in Vision-L…
A visually-grounded navigation instruction can be interpreted as a sequence of expected observations and actions an agent following the correct trajectory would encounter and perform. Based on this intuition, we formulate the problem of…
Vision-Language Navigation (VLN) enables intelligent agents to navigate environments by integrating visual perception and natural language instructions, yet faces significant challenges due to the scarcity of fine-grained cross-modal…
Large vision-language models (LVLMs) have achieved impressive results in various vision-language tasks. However, despite showing promising performance, LVLMs suffer from hallucinations caused by language bias, leading to diminished focus on…
Large Language Models (LLMs) excel at single-turn tasks such as instruction following and summarization, yet real-world deployments require sustained multi-turn interactions where user goals and conversational context persist and evolve. A…
Vision-and-Language Navigation (VLN) is unique in that it requires turning relatively general natural-language instructions into robot agent actions, on the basis of the visible environment. This requires to extract value from two very…
Vision-and-Language Navigation (VLN) increasingly relies on large vision-language models, but their inference cost conflicts with real-time deployment. Token caching is a promising training-free strategy that avoids redundant computation by…
Multi-agent Large Language Model (LLM) systems have emerged as powerful architectures for complex task decomposition and collaborative problem-solving. However, their long-term behavioral stability remains largely unexamined. This study…
Learning to follow instructions is of fundamental importance to autonomous agents for vision-and-language navigation (VLN). In this paper, we study how an agent can navigate long paths when learning from a corpus that consists of shorter…
We study the challenging problem of releasing a robot in a previously unseen environment, and having it follow unconstrained natural language navigation instructions. Recent work on the task of Vision-and-Language Navigation (VLN) has…
This paper presents a novel reinforcement learning framework for trajectory tracking of unmanned aerial vehicles in cluttered environments using a dual-agent architecture. Traditional optimization methods for trajectory tracking face…
Continual learning (CL) empowers AI systems to progressively acquire knowledge from non-stationary data streams. However, catastrophic forgetting remains a critical challenge. In this work, we identify attention drift in Vision Transformers…
As a long-term vision in the field of artificial intelligence, the core goal of embodied intelligence is to improve the perception, understanding, and interaction capabilities of agents and the environment. Vision-language navigation (VLN),…
How much does having visual priors about the world (e.g. the fact that the world is 3D) assist in learning to perform downstream motor tasks (e.g. navigating a complex environment)? What are the consequences of not utilizing such visual…
Vision-and-Language Navigation (VLN), where an agent follows instructions to reach a target destination, has recently seen significant advancements. In contrast to navigation in discrete environments with predefined trajectories, VLN in…
Vision-language navigation (VLN) is the task of entailing an agent to carry out navigational instructions inside photo-realistic environments. One of the key challenges in VLN is how to conduct a robust navigation by mitigating the…
Vision-language Navigation (VLN) tasks require an agent to navigate step-by-step while perceiving the visual observations and comprehending a natural language instruction. Large data bias, which is caused by the disparity ratio between the…
We introduce Room-Across-Room (RxR), a new Vision-and-Language Navigation (VLN) dataset. RxR is multilingual (English, Hindi, and Telugu) and larger (more paths and instructions) than other VLN datasets. It emphasizes the role of language…
Map representations learned by expert demonstrations have shown promising research value. However, the field of visual navigation still faces challenges due to the lack of real-world human-navigation datasets that can support efficient,…
Cross-modal alignment is one key challenge for Vision-and-Language Navigation (VLN). Most existing studies concentrate on mapping the global instruction or single sub-instruction to the corresponding trajectory. However, another critical…
Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…