IVLMap: Instance-Aware Visual Language Grounding for Consumer Robot Navigation

arXiv:2403.19336v1 Announce Type: new
Abstract: Vision-and-Language Navigation (VLN) is a challenging task that requires a robot to navigate in photo-realistic environments with human natural language promptings. Recent studies aim to handle this task by constructing the semantic spatial map representation of the environment, and then leveraging the strong ability of reasoning in large language models for generalizing code for guiding the robot navigation. However, these methods face limitations in instance-level and attribute-level navigation tasks as they cannot distinguish different instances …

arxiv consumer cs.ai cs.cv instance language navigation robot robot navigation type visual