arXiv subjects

Yongrui Qin

Publications and source records attributed to Yongrui Qin.

5 recordsLinked to original sources

arXiv2026

A Comprehensive Survey and Systematic Real-World Evaluation of Embodied Vision-and-Language Navigation

Navigation is a fundamental capability of autonomous systems, yet most existing approaches rely on highly structured models and strong prior assumptions, limiting their robustness in open and uncertain real-world environments. Vision-and-Language Navigation (VLN) offers a promising direction by enabling robots to integrate natural language understanding with visual perception in a data-driven manner. Although VLN has attracted increasing research attention, systematic methodological taxonomy and real-world validation remain limited. This survey presents a comprehensive review of VLN research. Specifically, state-of-the-art methods are organized along two orthogonal dimensions: action paradigms, including hierarchical and monolithic frameworks, and model paradigms, including discriminative and generative approaches. A critical analysis of their respective strengths and limitations is provided. Additionally, we conduct a systematic real-world evaluation of representative VLN system configurations on a physical robotic platform. Experiments across ten diverse real-world scenes show a substantial performance gap between simulation and real-world deployment under the tested configurations: a representative monolithic RGB-only method achieves 61% success in simulation but drops to 22% in real-world deployment, while a hierarchical framework achieves a higher real-world success rate of 51%, suggesting stronger robustness in our evaluation setting. Finally, we highlight key challenges in perception, decision-making, and control that must be addressed in future research.

cs.RO↗

arXiv2026

P2DNav: Panorama-to-Downview Reasoning for Zero-shot Vision-and-Language Navigation

Vision-and-language navigation (VLN) requires an embodied agent to ground natural-language instructions into executable navigation actions in unseen environments. Existing zero-shot methods typically rely on additional waypoint prediction modules, which often entangle high-level directional reasoning with fine-grained local grounding, leading to error-prone and unstable decisions. In this paper, we propose P2DNav, a hierarchical framework for zero-shot vision-and-language navigation. P2DNav consists of three core components: Panorama-to-Downview (P2D), Sliding-Window Dialogue Memory (SDM), and Reflective Reorientation Mechanism (RRM). P2D explicitly decomposes navigation decision-making into two stages: panoramic direction selection and downview local grounding. It first selects the instruction-relevant direction from a 360° panorama, and then predicts a pixel-level target point from the downview RGB observation in that direction. In addition, SDM organizes navigation history as a multi-turn dialogue context and maintains recent visual observations within a sliding window to support long-horizon navigation. RRM further enables reflective reorientation by assessing the reliability of local grounding based on the downview observation and returning to panoramic direction selection when necessary. Experiments on the R2R-CE benchmark show that P2DNav achieves strong performance among zero-shot methods. In particular, compared with the state-of-the-art (SOTA) zero-shot waypoint-based and waypoint-free methods, P2DNav achieves SR gains of 146.6% and 58.9%, respectively, demonstrating the effectiveness of P2D, SDM, and RRM for zero-shot VLN. Code will be released for public use.

cs.CV↗

arXiv2017

Fog Computing for Sustainable Smart Cities: A Survey

The Internet of Things (IoT) aims to connect billions of smart objects to the Internet, which can bring a promising future to smart cities. These objects are expected to generate large amounts of data and send the data to the cloud for further processing, specially for knowledge discovery, in order that appropriate actions can be taken. However, in reality sensing all possible data items captured by a smart object and then sending the complete captured data to the cloud is less useful. Further, such an approach would also lead to resource wastage (e.g. network, storage, etc.). The Fog (Edge) computing paradigm has been proposed to counterpart the weakness by pushing processes of knowledge discovery using data analytics to the edges. However, edge devices have limited computational capabilities. Due to inherited strengths and weaknesses, neither Cloud computing nor Fog computing paradigm addresses these challenges alone. Therefore, both paradigms need to work together in order to build an sustainable IoT infrastructure for smart cities. In this paper, we review existing approaches that have been proposed to tackle the challenges in the Fog computing domain. Specifically, we describe several inspiring use case scenarios of Fog computing, identify ten key characteristics and common features of Fog computing, and compare more than 30 existing research efforts in this domain. Based on our review, we further identify several major functionalities that ideal Fog computing platforms should support and a number of open challenges towards implementing them, so as to shed light on future research directions on realizing Fog computing for building sustainable smart cities.

cs.NI↗

arXiv2016

Searching for the Internet of Things on the Web: Where It Is and What It Looks Like

The Internet of Things (IoT), in general, is a compelling paradigm that aims to connect everyday objects to the Internet. Nowadays, IoT is considered as one of the main technologies which contribute towards reshaping our daily lives in the next decade. IoT unlocks many exciting new opportunities in a variety of applications in research and industry domains. However, many have complained about the absence of the real-world IoT data. Unsurprisingly, a common question that arises regularly nowadays is "Does the IoT already exist?". So far, little has been known about the real-world situation on IoT, its attributes, the presentation of data and user interests. To answer this question, in this work, we conduct an in-depth analytical investigation on real IoT data. More specifically, we identify IoT data sources over the Web and develop a crawler engine to collect large-scale real-world IoT data for the first time. We make the results of our work available to the public in order to assist the community in the future research. In particular, we collect the data of nearly two million Internet connected objects and study trends in IoT using a real-world query set from an IoT search engine. Based on the collected data and our analysis, we identify the typical characteristics of IoT data. The most intriguing finding of our study is that IoT data is mainly disseminated using Web Mapping while the emerging IoT solutions such as the Web of Things, are currently not well adopted. On top of our findings, we further discuss future challenges and open research problems in the IoT area.

cs.IR↗

arXiv2014

When Things Matter: A Data-Centric View of the Internet of Things

With the recent advances in radio-frequency identification (RFID), low-cost wireless sensor devices, and Web technologies, the Internet of Things (IoT) approach has gained momentum in connecting everyday objects to the Internet and facilitating machine-to-human and machine-to-machine communication with the physical world. While IoT offers the capability to connect and integrate both digital and physical entities, enabling a whole new class of applications and services, several significant challenges need to be addressed before these applications and services can be fully realized. A fundamental challenge centers around managing IoT data, typically produced in dynamic and volatile environments, which is not only extremely large in scale and volume, but also noisy, and continuous. This article surveys the main techniques and state-of-the-art research efforts in IoT from data-centric perspectives, including data stream processing, data storage models, complex event processing, and searching in IoT. Open research issues for IoT data management are also discussed.

cs.DB↗