9 papers
Understanding Degradation with Vision Language Model
Guanzhou Lan, Chenyi Liao, Yuqi Yang +5
Understanding visual degradations is a critical yet challenging problem in computer vision. While recent Vision-Language Models (VLMs) excel at qualitative description, they often…
Cross from Left to Right Brain: Adaptive Text Dreamer for Vision-and-Language Navigation
Pingrui Zhang, Yifei Su, Pengyuan Wu +7
Vision-and-Language Navigation (VLN) requires the agent to navigate by following natural instructions under partial observability, making it difficult to align perception with lang…
Think Small, Act Big: Primitive Prompt Learning for Lifelong Robot Manipulation
Yuanqi Yao, Siao Liu, Haoming Song +7
Building a lifelong robot that can effectively leverage prior knowledge for continuous skill acquisition remains significantly challenging. Despite the success of experience replay…
Hume: Introducing System-2 Thinking in Visual-Language-Action Model
Haoming Song, Delin Qu, Yuanqi Yao +9
Humans practice slow thinking before performing actual actions when handling complex tasks in the physical world. This thinking paradigm, recently, has achieved remarkable advancem…
AerialVG: A Challenging Benchmark for Aerial Visual Grounding by Exploring Positional Relations
Junli Liu, Qizhi Chen, Zhigang Wang +6
Visual grounding (VG) aims to localize target objects in an image based on natural language descriptions. In this paper, we propose AerialVG, a new task focusing on visual groundin…
MoMa-Kitchen: A 100K+ Benchmark for Affordance-Grounded Last-Mile Navigation in Mobile Manipulation
Pingrui Zhang, Xianqiang Gao, Yuhan Wu +6
In mobile manipulation, navigation and manipulation are often treated as separate problems, resulting in a significant gap between merely approaching an object and engaging with it…