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Multi-Scale Gaussian-Language Map for Zero-shot Embodied Navigation and Reasoning
Sixian Zhang, Yiyao Wang, Xinhang Song +3
Understanding the geometric and semantic structure of environments is essential for embodied navigation and reasoning. Existing semantic mapping methods trade off between explicit…
TrajRAG: Retrieving Geometric-Semantic Experience for Zero-Shot Object Navigation
Yiyao Wang, Sixian Zhang, Keming Zhang +3
Existing zero-shot Object Goal Navigation (ObjectNav) methods often exploit commonsense knowledge from large language or vision-language models to guide navigation. However, such k…
Learning Multi-dimensional Human Preference for Text-to-Image Generation
Sixian Zhang, Bohan Wang, Junqiang Wu +4
Current metrics for text-to-image models typically rely on statistical metrics which inadequately represent the real preference of humans. Although recent work attempts to learn th…
Hierarchical Object-to-Zone Graph for Object Navigation
Sixian Zhang, Xinhang Song, Yubing Bai +3
The goal of object navigation is to reach the expected objects according to visual information in the unseen environments. Previous works usually implement deep models to train an…