相关论文: GA-VLN: Geometry-Aware BEV Representation for Effi…

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…

Large-scale pre-training has shown promising results on the vision-and-language navigation (VLN) task. However, most existing pre-training methods employ discrete panoramas to learn visual-textual associations. This requires the model to…

Achieving human-like reasoning in deep learning models for complex tasks in unknown environments remains a critical challenge in embodied intelligence. While advanced vision-language models (VLMs) excel in static scene understanding, their…

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…

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…

The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail…

Existing aerial Vision-Language Navigation (VLN) methods predominantly adopt a detection-and-planning pipeline, which converts open-vocabulary detections into discrete textual scene graphs. These approaches are plagued by inadequate spatial…

Learning Bird's Eye View (BEV) representation from surrounding-view cameras is of great importance for autonomous driving. In this work, we propose a Geometry-guided Kernel Transformer (GKT), a novel 2D-to-BEV representation learning…

Precise spatial reasoning is fundamental to robotic manipulation, yet the visual backbones of current vision-language-action (VLA) models are predominantly pretrained on 2D image data without explicit 3D geometric supervision, resulting in…

Previous research has investigated the application of Multimodal Large Language Models (MLLMs) in understanding 3D scenes by interpreting them as videos. These approaches generally depend on comprehensive 3D data inputs, such as point…

Training-free Vision-Language Navigation (VLN) agents powered by foundation models can follow instructions and explore 3D environments. However, existing approaches rely on greedy frontier selection and passive spatial memory, leading to…

Vision-and-Language Navigation (VLN) requires an embodied agent to navigate in a complex 3D environment according to natural language instructions. Recent progress in large language models (LLMs) has enabled language-driven navigation with…

Vision-Language Models (VLMs) often struggle with robust 3D spatial reasoning. Prevailing methods that rely on fine-tuning with 3D visual question-answering (VQA) datasets may overfit dataset-specific biases, while integrating specialized…

While Multimodal Large Language Models demonstrate impressive semantic capabilities, they often suffer from spatial blindness, struggling with fine-grained geometric reasoning and physical dynamics. Existing solutions typically rely on…

Vision-Language-Action (VLA) models have recently achieved remarkable progress in robotic perception and control, yet most existing approaches primarily rely on VLM trained using 2D images, which limits their spatial understanding and…

3D Gaussian Splatting has recently emerged as an efficient solution for high-quality and real-time novel view synthesis. However, its capability for accurate surface reconstruction remains underexplored. Due to the discrete and unstructured…

Vision-and-Language Navigation (VLN) presents a complex challenge in embodied AI, requiring agents to interpret natural language instructions and navigate through visually rich, unfamiliar environments. Recent advances in large…

Vision-Language Navigation (VLN) agents often struggle with long-horizon reasoning in unseen environments, particularly when facing ambiguous, coarse-grained instructions. While recent advances use knowledge graph to enhance reasoning, the…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Accurate prediction of communication link quality metrics is essential for vehicle-to-infrastructure (V2I) systems, enabling smooth handovers, efficient beam management, and reliable low-latency communication. The increasing availability of…