相关论文: Instruction-as-State: Environment-Guided and State…

The compositional structure of language enables humans to decompose complex phrases and map them to novel visual concepts, showcasing flexible intelligence. While several algorithms exhibit compositionality, they fail to elucidate how…

Navigation foundation models trained on massive webscale data enable agents to generalize across diverse environments and embodiments. However, these models trained solely on offline data, often lack the capacity to reason about the…

Object goal navigation (ObjectNav) is a fundamental task in embodied AI, requiring an agent to locate a target object in previously unseen environments. This task is particularly challenging because it requires both perceptual and cognitive…

Recent methods for embodied instruction following are typically trained end-to-end using imitation learning. This often requires the use of expert trajectories and low-level language instructions. Such approaches assume that neural states…

Vision-and-Language Navigation (VLN) is a natural language grounding task where an agent learns to follow language instructions and navigate to specified destinations in real-world environments. A key challenge is to recognize and stop at…

Incremental learning of semantic segmentation has emerged as a promising strategy for visual scene interpretation in the open- world setting. However, it remains challenging to acquire novel classes in an online fashion for the segmentation…

Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and…

Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…

As AI advances toward general intelligence, the focus is shifting from systems optimized for static tasks to creating open-ended agents that learn continuously. In this paper, we introduce Experience-driven Lifelong Learning (ELL), a…

To enhance the cross-target and cross-scene generalization of target-driven visual navigation based on deep reinforcement learning (RL), we introduce an information-theoretic regularization term into the RL objective. The regularization…

Active event perception, the ability to dynamically detect, track, and summarize events in real time, is essential for embodied intelligence in tasks such as human-AI collaboration, assistive robotics, and autonomous navigation. However,…

Language-guided segmentation transcends the scope limitations of traditional semantic segmentation, enabling models to segment arbitrary target regions based on natural language instructions. Existing approaches typically adopt a two-stage…

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…

End-to-end Transformers have demonstrated an impressive success rate for Embodied Instruction Following when the environment has been seen in training. However, they tend to struggle when deployed in an unseen environment. This lack of…

We investigate the Vision-and-Language Navigation (VLN) problem in the context of autonomous driving in outdoor settings. We solve the problem by explicitly grounding the navigable regions corresponding to the textual command. At each…

Vision-and-Language Navigation (VLN) is a cornerstone of embodied intelligence. However, current agents often suffer from significant performance degradation when transitioning from simulation to real-world deployment, primarily due to…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Navigating dynamic urban environments presents significant challenges for embodied agents, requiring advanced spatial reasoning and adherence to common-sense norms. Despite progress, existing visual navigation methods struggle in map-free…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

Neuro-symbolic reinforcement learning (NS-RL) has emerged as a promising paradigm for explainable decision-making, characterized by the interpretability of symbolic policies. NS-RL entails structured state representations for tasks with…