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

Bird's-eye-view (BEV) representation is crucial for the perception function in autonomous driving tasks. It is difficult to balance the accuracy, efficiency and range of BEV representation. The existing works are restricted to a limited…

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location following the natural language instruction in 3D environments. At each navigation step, the agent selects from possible candidate locations and then…

Building on the unprecedented capabilities of large language models for command understanding and zero-shot recognition of multi-modal vision-language transformers, visual language navigation (VLN) has emerged as an effective way to address…

Recent advancements in Large Language Models (LLMs) and Vision-Language Models (VLMs) have made them powerful tools in embodied navigation, enabling agents to leverage commonsense and spatial reasoning for efficient exploration in…

Zero-shot vision-and-language navigation (VLN) has gained significant attention due to its minimal data collection costs and inherent generalization. This paradigm is typically driven by the integration of pre-trained Vision-Language Models…

Accurate aerodynamic field prediction is crucial for vehicle drag evaluation, but the computational cost of high-fidelity CFD hinders its use in iterative design workflows. While learning-based methods enable fast and scalable inference,…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

Vision-Language Navigation (VLN) presents a unique challenge for Large Vision-Language Models (VLMs) due to their inherent architectural mismatch: VLMs are primarily pretrained on static, disembodied vision-language tasks, which…

Vision-centric Bird's Eye View (BEV) perception holds considerable promise for autonomous driving. Recent studies have prioritized efficiency or accuracy enhancements, yet the issue of domain shift has been overlooked, leading to…

Text-to-3D generation has advanced rapidly, yet state-of-the-art models, encompassing both optimization-based and feed-forward architectures, still face two fundamental limitations. First, they struggle with coarse semantic alignment, often…

We present RangeRCNN, a novel and effective 3D object detection framework based on the range image representation. Most existing methods are voxel-based or point-based. Though several optimizations have been introduced to ease the sparsity…

In Vision-and-Language Navigation (VLN), an embodied agent needs to reach a target destination with the only guidance of a natural language instruction. To explore the environment and progress towards the target location, the agent must…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

Spatio-temporal reasoning in vision-language models requires visual representations that preserve physical geometry rather than merely semantic appearance. Recent multimodal models incorporate geometric information through structural…

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),…

Visual navigation is a fundamental capability for autonomous home-assistance robots, enabling long-horizon tasks such as object search. While recent methods have leveraged Large Language Models (LLMs) to incorporate commonsense reasoning…

Cross-view geo-localization for Unmanned Aerial Vehicles (UAVs) operating in GNSS-denied environments remains challenging due to the severe geometric discrepancy between oblique UAV imagery and orthogonal satellite maps. Most existing…

Outdoor Vision-and-Language Navigation (VLN) requires an agent to navigate through realistic 3D outdoor environments based on natural language instructions. The performance of existing VLN methods is limited by insufficient diversity in…

In the Vision-and-Language Navigation task, the embodied agent follows linguistic instructions and navigates to a specific goal. It is important in many practical scenarios and has attracted extensive attention from both computer vision and…

3D Gaussian Splatting (3DGS), a 3D representation method with photorealistic real-time rendering capabilities, is regarded as an effective tool for narrowing the sim-to-real gap. However, it lacks fine-grained semantics and physical…