5 papers
Goal2Pixel: Grounding Goals to Pixels for Vision-Language Navigation
Muyi Bao, Yuxin Cai, Hang Xu +7
Vision-language models (VLMs) have become a common foundation for vision-and-language navigation in continuous environments (VLN-CE). Yet most VLM-based methods cast navigation as…
IntentNav: Learning Spatial-Visual Object Navigation from Human Demonstrations
Yuxin Cai, Zongtai Li, Maonan Wang +9
Object navigation requires a robot to search for an unobserved target in an unknown environment by deciding where to explore next under partial observability. Effective search rese…
LLM-RG: Referential Grounding in Outdoor Scenarios using Large Language Models
Pranav Saxena, Avigyan Bhattacharya, Ji Zhang +1
Referential grounding in outdoor driving scenes is challenging due to large scene variability, many visually similar objects, and dynamic elements that complicate resolving natural…
SORT3D: Spatial Object-centric Reasoning Toolbox for Zero-Shot 3D Grounding Using Large Language Models
Nader Zantout, Haochen Zhang, Pujith Kachana +4
Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is…
IRef-VLA: A Benchmark for Interactive Referential Grounding with Imperfect Language in 3D Scenes
Haochen Zhang, Nader Zantout, Pujith Kachana +2
With the recent rise of large language models, vision-language models, and other general foundation models, there is growing potential for multimodal, multi-task robotics that can…