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在VLN中，RNNs可以用来处理语言指令序列，理解指令的时序依赖关系。 长短时记忆网络（Long Short-Term Memory，LSTM）：LSTM是一种特殊的RNN，设计用来解决传统RNN在处理长序列时的梯度消失或梯度爆炸问题。LSTM通过引入门控机制（输入门、遗忘门、输出门）来控制 ...

Krantz等人（2020）提出在连续环境中进行VLN（VLN-CE），通过将离散R2R路径转移到连续空间来实现。 评估指标 用于评估导航性能的主要指标包括：

2025年1月23日 · 视觉-语言导航(vln)是一种将视觉信息与自然语言结合，以指导机器人或智能系统在复杂环境中进行导航的技术。 本文旨在概述 VLN 的基本原理，标准化的必要性，以及标准化内容与框架构建方法。

构建了UAV-Need-Help的目标导向真实无人机VLN数据集，这是首个专门为无人机VLN任务设计的真实数据集。 数据集包含了约12,000个轨迹，每个轨迹都精确捕捉了无人机的6自由度（DoF）运动，反映了无人机飞行的复杂性。

Vision-and-language navigation (VLN) enables the agent to navigate to a remote location in 3D environments following the natural language instruction. In this field, the agent is usually trained and evaluated in the navigation simulators, lacking effective approaches for sim-to-real transfer.

You can simply switch between the OSCAR-based and the PREVALENT-based VLN models by changing the arguments vlnbert (oscar or prevalent) and load (trained model paths).

Abstract: In the pursuit of robust and generalizable environment perception and language understanding, the ubiquitous challenge of dataset bias continues to plague vision-and-language navigation (VLN) agents, hindering their performance in unseen environments. This paper introduces the generalized cross-modal causal transformer (GOAT), a ...

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