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Planning from Imagination: Episodic Simulation and Episodic Memory for Vision-and-Language Navigation
Yiyuan Pan, Yunzhe Xu, Zhe Liu +1
Humans navigate unfamiliar environments using episodic simulation and episodic memory, which facilitate a deeper understanding of the complex relationships between environments and…
PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments
Haoang Li, Xiangqi Meng, Xingxing Zuo +3
Simultaneous localization and mapping (SLAM) has achieved impressive performance in static environments. However, SLAM in dynamic environments remains an open question. Many method…
Enhancing Exploratory Capability of Visual Navigation Using Uncertainty of Implicit Scene Representation
Yichen Wang, Qiming Liu, Zhe Liu +1
In the context of visual navigation in unknown scenes, both "exploration" and "exploitation" are equally crucial. Robots must first establish environmental cognition through explor…
FLAME: Learning to Navigate with Multimodal LLM in Urban Environments
Yunzhe Xu, Yiyuan Pan, Zhe Liu +1
Large Language Models (LLMs) have demonstrated potential in Vision-and-Language Navigation (VLN) tasks, yet current applications face challenges. While LLMs excel in general conver…