Wei-Cheng Wang

Flat-IIN: Instance Image Navigation Based on 2D Multi-Channel Semantic Maps and Driven by Vision-Language Models

Flat-IIN is proposed, a modular framework using 2D multi-channel semantic maps and a vision-language model (VLM) that constructs multiple 2D maps and integrates Multi-View Active Semantic Exploration, Global Backtracking, and VLM-based Frontier Exploration to accomplish IIN.