相关论文: Autonomous Frontier-Based Exploration with VLM Gui…

The rapid progress of multimodal large language models (MLLM) has paved the way for Vision-Language-Action (VLA) paradigms, which integrate visual perception, natural language understanding, and control within a single policy. Researchers…

Vision-Language Models (VLMs) demonstrate impressive capabilities across multimodal tasks, yet exhibit systematic spatial reasoning failures, achieving only 49% (CLIP) to 54% (BLIP-2) accuracy on basic directional relationships. For safe…

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

Scaling LLM-based embodied agents from text-only environments to complex multimodal settings remains a major challenge. Recent work identifies a perception-reasoning-decision gap in standalone Vision-Language Models (VLMs), which often…

Vision-and-Language Navigation (VLN) is the task that requires an agent to navigate through the environment based on natural language instructions. At each step, the agent takes the next action by selecting from a set of navigable…

This paper introduces VLN-Pilot, a novel framework in which a large Vision-and-Language Model (VLLM) assumes the role of a human pilot for indoor drone navigation. By leveraging the multimodal reasoning abilities of VLLMs, VLN-Pilot…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…

Large language models (LLMs) have shown promise in robotic procedural planning, yet their human-centric reasoning often omits the low-level, grounded details needed for robotic execution. Vision-language models (VLMs) offer a path toward…

Exploration and collision-free navigation through an unknown environment is a fundamental task for autonomous robots. In this paper, a novel exploration strategy for Micro Aerial Vehicles (MAVs) is presented. The goal of the exploration…

Recent advancements in large language models (LLMs) have shown significant promise in various domains, especially robotics. However, most prior LLM-based work in robotic applications either directly predicts waypoints or applies LLMs within…

Autonomous driving requires reliable perception and safe decision-making in complex scenarios. Recent vision-language models (VLMs) demonstrate reasoning and generalization abilities, opening new possibilities for autonomous driving;…

We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…

Autonomous indoor mobile robots can navigate reliably to metric coordinates using established frameworks such as ROS 2 Navigation 2, yet they lack the ability to interpret natural language instructions that express intent rather than…

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…

While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets suffer from language annotations that are weakly aligned with…

Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…

Mobile robot path planning in complex environments remains a significant challenge, especially in achieving efficient, safe and robust paths. The traditional path planning techniques like DRL models typically trained for a given…

We present BehAV, a novel approach for autonomous robot navigation in outdoor scenes guided by human instructions and leveraging Vision Language Models (VLMs). Our method interprets human commands using a Large Language Model (LLM) and…