4 papers
E3VS-Bench: A Benchmark for Viewpoint-Dependent Active Perception in 3D Gaussian Splatting Scenes
Koya Sakamoto, Taiki Miyanishi, Daichi Azuma +6
Visual search in 3D environments requires embodied agents to actively explore their surroundings and acquire task-relevant evidence. However, existing visual search and embodied AI…
NavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation
Daichi Azuma, Taiki Miyanishi, Koya Sakamoto +6
Goal-conditioned visual navigation requires a robot to act under partial observability by anticipating how its motion will change the future egocentric view and whether that change…
CityNav: A Large-Scale Dataset for Real-World Aerial Navigation
Jungdae Lee, Taiki Miyanishi, Shuhei Kurita +4
Vision-and-language navigation (VLN) aims to develop agents capable of navigating in realistic environments. While recent cross-modal training approaches have significantly improve…
GeoProg3D: Compositional Visual Reasoning for City-Scale 3D Language Fields
Shunsuke Yasuki, Taiki Miyanishi, Nakamasa Inoue +5
The advancement of 3D language fields has enabled intuitive interactions with 3D scenes via natural language. However, existing approaches are typically limited to small-scale envi…