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Bingqian Lin

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7 papers

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AAAI Conference 2025 Conference Paper

Affordances-Oriented Planning Using Foundation Models for Continuous Vision-Language Navigation

Jiaqi Chen
Bingqian Lin
Xinmin Liu
Lin Ma
Xiaodan Liang
Kwan-Yee K. Wong

LLM-based agents have demonstrated impressive zero-shot performance in vision-language navigation (VLN) task. However, existing LLM-based methods often focus only on solving high-level task planning by selecting nodes in predefined navigation graphs for movements, overlooking low-level control in navigation scenarios. To bridge this gap, we propose AO-Planner, a novel Affordances-Oriented Planner for continuous VLN task. Our AO-Planner integrates various foundation models to achieve affordances-oriented low-level motion planning and high-level decision-making, both performed in a zero-shot setting. Specifically, we employ a Visual Affordances Prompting (VAP) approach, where the visible ground is segmented by SAM to provide navigational affordances, based on which the LLM selects potential candidate waypoints and plans low-level paths towards selected waypoints. We further propose a high-level PathAgent which marks planned paths into the image input and reasons the most probable path by comprehending all environmental information. Finally, we convert the selected path into 3D coordinates using camera intrinsic parameters and depth information, avoiding challenging 3D predictions for LLMs. Experiments on the challenging R2R-CE and RxR-CE datasets show that AO-Planner achieves state-of-the-art zero-shot performance (8.8% improvement on SPL). Our method can also serve as a data annotator to obtain pseudo-labels, distilling its waypoint prediction ability into a learning-based predictor. This new predictor does not require any waypoint data from the simulator and achieves 47% SR competing with supervised methods. We establish an effective connection between LLM and 3D world, presenting novel prospects for employing foundation models in low-level motion control.

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NeurIPS Conference 2025 Conference Paper

MineAnyBuild: Benchmarking Spatial Planning for Open-world AI Agents

Ziming Wei
Bingqian Lin
Zijian Jiao
Yunshuang Nie
Liang Ma
Yuecheng Liu
Yuzheng Zhuang
Xiaodan Liang

Spatial Planning is a crucial part in the field of spatial intelligence, which requires the understanding and planning about object arrangements in space perspective. AI agents with the spatial planning ability can better adapt to various real-world applications, including robotic manipulation, automatic assembly, urban planning etc. Recent works have attempted to construct benchmarks for evaluating the spatial intelligence of Multimodal Large Language Models (MLLMs). Nevertheless, these benchmarks primarily focus on spatial reasoning based on typical Visual Question-Answering (VQA) forms, which suffers from the gap between abstract spatial understanding and concrete task execution. In this work, we take a step further to build a comprehensive benchmark called MineAnyBuild, aiming to evaluate the spatial planning ability of open-world AI agents in the Minecraft game. Specifically, MineAnyBuild requires an agent to generate executable architecture building plans based on the given multi-modal human instructions. It involves 4, 000 curated spatial planning tasks and also provides a paradigm for infinitely expandable data collection by utilizing rich player-generated content. MineAnyBuild evaluates spatial planning through four core supporting dimensions: spatial understanding, spatial reasoning, creativity, and spatial commonsense. Based on MineAnyBuild, we perform a comprehensive evaluation for existing MLLM-based agents, revealing the severe limitations but enormous potential in their spatial planning abilities. We believe our MineAnyBuild will open new avenues for the evaluation of spatial intelligence and help promote further development for open-world AI agents capable of spatial planning.

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NeurIPS Conference 2025 Conference Paper

PhyBlock: A Progressive Benchmark for Physical Understanding and Planning via 3D Block Assembly

Liang Ma
Jiajun Wen
Min Lin
Rongtao Xu
Xiwen Liang
Bingqian Lin
Jun Ma
Yongxin Wang

While vision-language models (VLMs) have demonstrated promising capabilities in reasoning and planning for embodied agents, their ability to comprehend physical phenomena, particularly within structured 3D environments, remains severely limited. To close this gap, we introduce PhyBlock, a progressive benchmark designed to assess VLMs on physical understanding and planning through robotic 3D block assembly tasks. PhyBlock integrates a novel four-level cognitive hierarchy assembly task alongside targeted Visual Question Answering (VQA) samples, collectively aimed at evaluating progressive spatial reasoning and fundamental physical comprehension, including object properties, spatial relationships, and holistic scene understanding. PhyBlock includes 2600 block tasks (400 assembly tasks, 2200 VQA tasks) and evaluates models across three key dimensions: partial completion, failure diagnosis, and planning robustness. We benchmark 23 state-of-the-art VLMs, highlighting their strengths and limitations in physically grounded, multi-step planning. Our empirical findings indicate that the performance of VLMs exhibits pronounced limitations in high-level planning and reasoning capabilities, leading to a notable decline in performance for the growing complexity of the tasks. Error analysis reveals persistent difficulties in spatial orientation and dependency reasoning. We position PhyBlock as a unified testbed to advance embodied reasoning, bridging vision-language understanding and real-world physical problem-solving.

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NeurIPS Conference 2024 Conference Paper

PIVOT-R: Primitive-Driven Waypoint-Aware World Model for Robotic Manipulation

Kaidong Zhang
Pengzhen Ren
Bingqian Lin
Junfan Lin
Shikui Ma
Hang Xu
Xiaodan Liang

Language-guided robotic manipulation is a challenging task that requires an embodied agent to follow abstract user instructions to accomplish various complex manipulation tasks. Previous work generally maps instructions and visual perceptions directly to low-level executable actions, neglecting the modeling of critical waypoints (e. g. , key states of “close to/grab/move up” in action trajectories) in manipulation tasks. To address this issue, we propose a PImitive-driVen waypOinT-aware world model for Robotic manipulation (PIVOT-R) that focuses solely on the prediction of task-relevant waypoints. Specifically, PIVOT-R consists of a Waypoint-aware World Model (WAWM) and a lightweight action prediction module. The former performs primitive action parsing and primitive-driven waypoint prediction, while the latter focuses on decoding low-level actions. Additionally, we also design an asynchronous hierarchical executor (AHE) for PIVOT-R, which can use different execution frequencies for different modules of the model, thereby helping the model reduce computational redundancy and improve model execution efficiency. Our PIVOT-R outperforms state-of-the-art (SoTA) open-source models on the SeaWave benchmark, achieving an average relative improvement of 19. 45% across four levels of instruction tasks. Moreover, compared to the synchronously executed PIVOT-R, the execution efficiency of PIVOT-R with AHE is increased by 28-fold, with only a 2. 9% drop in performance. These results provide compelling evidence that our PIVOT-R can significantly improve both the performance and efficiency of robotic manipulation.

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AAAI Conference 2023 Conference Paper

Actional Atomic-Concept Learning for Demystifying Vision-Language Navigation

Bingqian Lin
Yi Zhu
Xiaodan Liang
Liang Lin
Jianzhuang Liu

Vision-Language Navigation (VLN) is a challenging task which requires an agent to align complex visual observations to language instructions to reach the goal position. Most existing VLN agents directly learn to align the raw directional features and visual features trained using one-hot labels to linguistic instruction features. However, the big semantic gap among these multi-modal inputs makes the alignment difficult and therefore limits the navigation performance. In this paper, we propose Actional Atomic-Concept Learning (AACL), which maps visual observations to actional atomic concepts for facilitating the alignment. Specifically, an actional atomic concept is a natural language phrase containing an atomic action and an object, e.g., ``go up stairs''. These actional atomic concepts, which serve as the bridge between observations and instructions, can effectively mitigate the semantic gap and simplify the alignment. AACL contains three core components: 1) a concept mapping module to map the observations to the actional atomic concept representations through the VLN environment and the recently proposed Contrastive Language-Image Pretraining (CLIP) model, 2) a concept refining adapter to encourage more instruction-oriented object concept extraction by re-ranking the predicted object concepts by CLIP, and 3) an observation co-embedding module which utilizes concept representations to regularize the observation representations. Our AACL establishes new state-of-the-art results on both fine-grained (R2R) and high-level (REVERIE and R2R-Last) VLN benchmarks. Moreover, the visualization shows that AACL significantly improves the interpretability in action decision. Code will be available at https://gitee.com/mindspore/models/tree/master/research/cv/VLN-AACL.

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AAAI Conference 2022 Conference Paper

Contrastive Instruction-Trajectory Learning for Vision-Language Navigation

Xiwen Liang
Fengda Zhu
Yi Zhu
Bingqian Lin
Bing Wang
Xiaodan Liang

The vision-language navigation (VLN) task requires an agent to reach a target with the guidance of natural language instruction. Previous works learn to navigate step-bystep following an instruction. However, these works may fail to discriminate the similarities and discrepancies across instruction-trajectory pairs and ignore the temporal continuity of sub-instructions. These problems hinder agents from learning distinctive vision-and-language representations, harming the robustness and generalizability of the navigation policy. In this paper, we propose a Contrastive Instruction-Trajectory Learning (CITL) framework that explores invariance across similar data samples and variance across different ones to learn distinctive representations for robust navigation. Specifically, we propose: (1) a coarse-grained contrastive learning objective to enhance vision-and-language representations by contrasting semantics of full trajectory observations and instructions, respectively; (2) a fine-grained contrastive learning objective to perceive instructions by leveraging the temporal information of the sub-instructions; (3) a pairwise sample-reweighting mechanism for contrastive learning to mine hard samples and hence mitigate the influence of data sampling bias in contrastive learning. Our CITL can be easily integrated with VLN backbones to form a new learning paradigm and achieve better generalizability in unseen environments. Extensive experiments show that the model with CITL surpasses the previous state-of-the-art methods on R2R, R4R, and RxR. Code is available at https: //github. com/ liangcici/CITL-VLN.

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AAAI Conference 2020 Conference Paper

Patch Proposal Network for Fast Semantic Segmentation of High-Resolution Images

Tong Wu
Zhenzhen Lei
Bingqian Lin
Cuihua Li
Yanyun Qu
Yuan Xie

Despite recent progress on the segmentation of highresolution images, there exist an unsolved problem, i. e. , the trade-off among the segmentation accuracy, memory resources and inference speed. So far, GLNet is introduced for high or ultra-resolution image segmentation, which has reduced the computational memory of the segmentation network. However, it ignores the importances of different cropped patches, and treats tiled patches equally for fusion with the whole image, resulting in high computational cost. To solve this problem, we introduce a patch proposal network (PPN) in this paper, which adaptively distinguishes the critical patches from the trivial ones to fuse with the whole image for reﬁning segmentation. PPN is a classiﬁcation network which alleviates network training burden and improves segmentation accuracy. We further embed PPN in a globallocal segmentation network, instructing global branch and re- ﬁnement branch to work collaboratively. We implement our method on four image datasets: DeepGlobe, ISIC, CRAG and Cityscapes, the ﬁrst two are ultra-resolution image datasets and the last two are high-resolution image datasets. The experimental results show that our method achieves almost the best segmentation performance compared with the state-ofthe-art segmentation methods and the inference speed is 12. 9 fps on DeepGlobe and 10 fps on ISIC. Moreover, we embed PPN with the general semantic segmentation network and the experimental results on Cityscapes which contains more object classes demonstrate the generalization ability on general semantic segmentation.

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