{"id":"https://openalex.org/W4409348060","doi":"https://doi.org/10.1609/aaai.v39i22.34526","title":"Affordances-Oriented Planning Using Foundation Models for Continuous Vision-Language Navigation","display_name":"Affordances-Oriented Planning Using Foundation Models for Continuous Vision-Language Navigation","publication_year":2025,"publication_date":"2025-04-11","ids":{"openalex":"https://openalex.org/W4409348060","doi":"https://doi.org/10.1609/aaai.v39i22.34526"},"language":"en","primary_location":{"id":"doi:10.1609/aaai.v39i22.34526","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v39i22.34526","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/34526/36681","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/AAAI/article/download/34526/36681","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100434199","display_name":"Jiaqi Chen","orcid":"https://orcid.org/0000-0002-8693-8803"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jiaqi Chen","raw_affiliation_strings":["The University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101923104","display_name":"Bingqian Lin","orcid":"https://orcid.org/0000-0002-8763-9530"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingqian Lin","raw_affiliation_strings":["Shenzhen Campus of Sun Yat-sen University"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025531922","display_name":"Xinmin Liu","orcid":"https://orcid.org/0000-0002-5410-2796"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinmin Liu","raw_affiliation_strings":["Meituan"],"affiliations":[{"raw_affiliation_string":"Meituan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017116858","display_name":"Lin Ma","orcid":"https://orcid.org/0000-0002-7331-6132"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin Ma","raw_affiliation_strings":["Meituan"],"affiliations":[{"raw_affiliation_string":"Meituan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047878798","display_name":"Xiaodan Liang","orcid":"https://orcid.org/0000-0003-3213-3062"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaodan Liang","raw_affiliation_strings":["Shenzhen Campus of Sun Yat-sen University"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109582975","display_name":"Kenneth K. Wong","orcid":"https://orcid.org/0000-0001-8560-9007"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kwan-Yee K. Wong","raw_affiliation_strings":["The University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100434199"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":3.6939,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.94614443,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"39","issue":"22","first_page":"23568","last_page":"23576"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9567000269889832,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9531000256538391,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9302297830581665},{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.8100433349609375},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5421221852302551},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.499436616897583},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.3604121208190918},{"id":"https://openalex.org/keywords/management-science","display_name":"Management science","score":0.334641695022583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3245399296283722},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2898288369178772},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.18641060590744019},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.14210930466651917},{"id":"https://openalex.org/keywords/archaeology","display_name":"Archaeology","score":0.05378079414367676}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9302297830581665},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.8100433349609375},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5421221852302551},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.499436616897583},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.3604121208190918},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.334641695022583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3245399296283722},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2898288369178772},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.18641060590744019},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14210930466651917},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.05378079414367676}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaai.v39i22.34526","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v39i22.34526","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/34526/36681","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v39i22.34526","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v39i22.34526","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/34526/36681","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1450453902","display_name":null,"funder_award_id":"209131","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2981938667","display_name":null,"funder_award_id":"Shenzhen","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3085993365","display_name":null,"funder_award_id":"(Grant No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G37568934","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7033253288","display_name":null,"funder_award_id":"Grants","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7608752429","display_name":null,"funder_award_id":"Talent","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7726157001","display_name":null,"funder_award_id":"Grant No.","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4409348060.pdf","grobid_xml":"https://content.openalex.org/works/W4409348060.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W3049116993","https://openalex.org/W1541884709","https://openalex.org/W2589081601","https://openalex.org/W2226037301","https://openalex.org/W2417026147","https://openalex.org/W3089455568"],"abstract_inverted_index":{"LLM-based":[0,14],"agents":[1],"have":[2],"demonstrated":[3],"impressive":[4],"zero-shot":[5,73,172],"performance":[6,173],"in":[7,27,36,71,236],"vision-language":[8],"navigation":[9,29,37],"(VLN)":[10],"task.":[11,53],"However,":[12],"existing":[13],"methods":[15],"often":[16],"focus":[17],"only":[18],"on":[19,97,160,176],"solving":[20],"high-level":[21,67,116],"task":[22],"planning":[23,65],"by":[24,90,132],"selecting":[25],"nodes":[26],"predefined":[28],"graphs":[30],"for":[31,50,157,232],"movements,":[32],"overlooking":[33],"low-level":[34,63,107,237],"control":[35],"scenarios.":[38],"To":[39],"bridge":[40],"this":[41],"gap,":[42],"we":[43,76,138],"propose":[44,114],"AO-Planner,":[45],"a":[46,72,78,115,184,196],"novel":[47,230],"Affordances-Oriented":[48],"Planner":[49],"continuous":[51],"VLN":[52],"Our":[54,178],"AO-Planner":[55,169],"integrates":[56],"various":[57],"foundation":[58,234],"models":[59,235],"to":[60,92,187],"achieve":[61],"affordances-oriented":[62],"motion":[64,238],"and":[66,105,126,150,164,211,226],"decision-making,":[68],"both":[69],"performed":[70],"setting.":[74],"Specifically,":[75],"employ":[77],"Visual":[79],"Affordances":[80],"Prompting":[81],"(VAP)":[82],"approach,":[83],"where":[84],"the":[85,99,123,128,140,161,209],"visible":[86],"ground":[87],"is":[88],"segmented":[89],"SAM":[91],"provide":[93],"navigational":[94],"affordances,":[95],"based":[96],"which":[98,118],"LLM":[100,225],"selects":[101],"potential":[102],"candidate":[103],"waypoints":[104],"plans":[106],"paths":[108,121],"towards":[109],"selected":[110,141],"waypoints.":[111],"We":[112,219],"further":[113],"PathAgent":[117],"marks":[119],"planned":[120],"into":[122,143,195],"image":[124],"input":[125],"reasons":[127],"most":[129],"probable":[130],"path":[131,142],"comprehending":[133],"all":[134],"environmental":[135],"information.":[136],"Finally,":[137],"convert":[139],"3D":[144,155,227],"coordinates":[145],"using":[146],"camera":[147],"intrinsic":[148],"parameters":[149],"depth":[151],"information,":[152],"avoiding":[153],"challenging":[154,162],"predictions":[156],"LLMs.":[158],"Experiments":[159],"R2R-CE":[163],"RxR-CE":[165],"datasets":[166],"show":[167],"that":[168],"achieves":[170,212],"state-of-the-art":[171],"(8.8%":[174],"improvement":[175],"SPL).":[177],"method":[179],"can":[180],"also":[181],"serve":[182],"as":[183],"data":[185,207],"annotator":[186],"obtain":[188],"pseudo-labels,":[189],"distilling":[190],"its":[191],"waypoint":[192,206],"prediction":[193],"ability":[194],"learning-based":[197],"predictor.":[198],"This":[199],"new":[200],"predictor":[201],"does":[202],"not":[203],"require":[204],"any":[205],"from":[208],"simulator":[210],"47%":[213],"SR":[214],"competing":[215],"with":[216],"supervised":[217],"methods.":[218],"establish":[220],"an":[221],"effective":[222],"connection":[223],"between":[224],"world,":[228],"presenting":[229],"prospects":[231],"employing":[233],"control.":[239]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}