{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/language-enhanced-rnr-map-querying-renderable","title":"Language-enhanced RNR-Map: Querying Renderable Neural Radiance Field maps with natural language","arxiv_id":"2308.08854","date":"2023-08-17","proceeding":null,"authors":["Francesco Taioli","Federico Cunico","Federico Girella","Riccardo Bologna","Alessandro Farinelli","Marco Cristani"],"abstract":"We present Le-RNR-Map, a Language-enhanced Renderable Neural Radiance map for Visual Navigation with natural language query prompts. The recently proposed RNR-Map employs a grid structure comprising latent codes positioned at each pixel. These latent codes, which are derived from image observation, enable: i) image rendering given a camera pose, since they are converted to Neural Radiance Field; ii) image navigation and localization with astonishing accuracy. On top of this, we enhance RNR-Map with CLIP-based embedding latent codes, allowing natural language search without additional label data. We evaluate the effectiveness of this map in single and multi-object searches. We also investigate its compatibility with a Large Language Model as an \"affordance query resolver\". Code and videos are available at https://intelligolabs.github.io/Le-RNR-Map/","url_abs":"https://arxiv.org/abs/2308.08854v1","url_pdf":"https://arxiv.org/pdf/2308.08854v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"language-enhanced-rnr-map-querying-renderable","repo_url":"https://github.com/intelligolabs/Le-RNR-Map","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"language-modeling","task_name":"Language Modeling"},{"task_slug":"language-modelling","task_name":"Language Modelling"},{"task_slug":"large-language-model","task_name":"Large Language Model"},{"task_slug":"visual-navigation","task_name":"Visual Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2308.08854","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}