4 papers
StageVLN: Spatial and Trajectory Auxiliary Guidance for Efficient Vision-Language Navigation
Anh Dao, Quan-Dung Pham, Le Danh Vinh +6
Vision-and-Language Navigation (VLN) policies increasingly benefit from strong semantic priors provided by large vision-language models (VLMs). However, standard action supervision…
OREN-X: Octree Residual Network for Real-Time Multi-Modal Mapping
Zhirui Dai, Qihao Qian, Dinh Minh Nguyen +6
To achieve general-purpose autonomy over long horizons, a robot needs to maintain spatial environment information that supports a variety of tasks: geometry for planning and contro…
OpenBelief-Nav: Evidence-Preserving Object Memory for Open-Vocabulary Language-Guided Navigation
Dinh Tuan Nguyen, Anh Dao, Phuong Nam Dang +4
Open-vocabulary 3D scene graphs provide compact semantic memory for language-guided navigation, but mapped objects are often exposed through a single fused feature or committed sem…
HumanoidVLN: A Physics-Grounded Simulator and Benchmark for Vision-Language Navigation Across Diverse Humanoid Embodiments
Quan-Dung Pham, Anh Dao, The-Anh Nguyen +8
Vision-Language Navigation (VLN) for humanoid robots poses challenges existing benchmarks fail to address: bipedal locomotion imposes physical constraints absent from wheeled agent…