11 papers
UniNav: A Unified World-Action Diffusion Model for Visual Navigation
Changqing Zhou, Yueru Luo, Zeyu Jiang +1
Image-goal visual navigation is a fundamental capability for embodied agents. Existing navigation policies efficiently predict waypoint trajectories but lack visual foresight, whil…
AdvNav: Behavior-Guided Black-Box Adversarial Attacks on Vision-Language Navigation
Chenyang Li, Kaige Li, Zeyu Jiang +1
Despite progress in Embodied AI, Vision-and-Language Navigation systems remain vulnerable to adversarial visual disturbances. Most existing methods rely on white-box access to targ…
GPOcc++: Unified Sparse Gaussian Occupancy Prediction with Visual Geometry Priors
Changqing Zhou, Yueru Luo, Yulan Guo +3
Accurate 3D scene understanding is fundamental to embodied intelligence and autonomous driving, where 3D occupancy provides a unified representation of objects, structures, and fre…
Improving Adversarial Transferability on Vision-Language Pre-training Models via Surrogate-Specific Bias Correction
Lijia Yu, Jiuxin Cao, Yuchen Qiang +3
Adversarial examples reveal vulnerabilities in Vision-Language Pre-training (VLP) models and provide insights for improving robustness. A key property is cross-model transferabilit…
FlowDec: Temporal Conditional Flow Decorruptor for Robust Continuous Vision-Language Navigation
Yufei Zhang, Changhao Chen
Vision-and-Language Navigation in Continuous Environments (VLN-CE) requires agents to follow natural-language instructions in unseen scenes. While Large Models (LMs) have advanced…
Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model
Yuantai Zhang, Jiaqi Yang, Huajian Zeng +5
Fast and reliable initialization is critical for monocular visual-inertial navigation systems (VINS), as it establishes the starting conditions for subsequent state estimation. Des…
FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Prediction
Zeyu Jiang, Changqing Zhou, Xingxing Zuo +1
Existing learning-based occupancy prediction methods rely on large-scale 3D annotations and generalize poorly across environments. We present FreeOcc, a training-free framework for…
Generalizing Visual Geometry Priors to Sparse Gaussian Occupancy Prediction
Changqing Zhou, Yueru Luo, Changhao Chen
Accurate 3D scene understanding is essential for embodied intelligence, with occupancy prediction emerging as a key task for reasoning about both objects and free space. Existing a…
Monocular Open Vocabulary Occupancy Prediction for Indoor Scenes
Changqing Zhou, Yueru Luo, Han Zhang +2
Open-vocabulary 3D occupancy is vital for embodied agents, which need to understand complex indoor environments where semantic categories are abundant and evolve beyond fixed taxon…
MVL-Loc: Leveraging Vision-Language Model for Generalizable Multi-Scene Camera Relocalization
Zhendong Xiao, Wu Wei, Shujie Ji +2
Camera relocalization, a cornerstone capability of modern computer vision, accurately determines a camera's position and orientation (6-DoF) from images and is essential for applic…
EffLoc: Lightweight Vision Transformer for Efficient 6-DOF Camera Relocalization
Zhendong Xiao, Changhao Chen, Shan Yang +1
Camera relocalization is pivotal in computer vision, with applications in AR, drones, robotics, and autonomous driving. It estimates 3D camera position and orientation (6-DoF) from…