Grounding natural language instructions to visual observations is fundamental for embodied agents operating in open-world environments. Recent advances in visual-language mapping have enabled generalizable semantic representations by leveraging visionlanguage models (VLMs). However, these methods often fall short in aligning free-form language commands with specific scene instances, due to limitations in both instance-level semantic consistency and instruction interpretation. We present OpenMap, a zero-shot open-vocabulary visual-language map designed for accurate instruction grounding in navigation tasks. To address semantic inconsistencies across views, we introduce a Structural-Semantic Consensus constraint that jointly considers global geometric structure and vision-language similarity to guide robust 3D instancelevel aggregation. To improve instruction interpretation, we propose an LLM-assisted Instruction-to-Instance Grounding module that enables fine-grained instance selection by incorporating spatial context and expressive target descriptions. We evaluate OpenMap on ScanNet200 and Matterport3D, covering both semantic mapping and instruction-to-target retrieval tasks. Experimental results show that OpenMap outperforms state-of-the-art baselines in zero-shot settings, demonstrating the effectiveness of our method in bridging free-form language and 3D perception for embodied navigation.

Deep neural networks have become foundational in various applications but remain vulnerable to adversarial patch attacks. Crafting effective adversarial patches is inherently challenging due to the combinatorial complexity involved in jointly optimizing critical factors such as patch shape, location, number, and content. Existing approaches often simplify this optimization by addressing each factor independently, which limits their effectiveness. To tackle this significant challenge, we introduce a novel and flexible adversarial attack framework termed IMPACT (Irregular Multi-Patch Adversarial Composition based on Two-phase optimization). IMPACT uniquely enables comprehensive optimization of all essential patch factors using gradient-free methods. Specifically, we propose a novel dimensionality reduction encoding scheme that substantially lowers computational complexity while preserving expressive power. Leveraging this encoding, we further develop a two-phase optimization framework: phase 1 employs differential evolution for joint optimization of patch mask and content, while phase 2 refines patch content using an evolutionary strategy for enhanced precision. Additionally, we introduce a new aggregation algorithm explicitly designed to produce contiguous, irregular patches by merging localized regions, ensuring physical applicability. Extensive experiments demonstrate that our method significantly outperforms several state-of-the-art approaches, highlighting the critical benefit of jointly optimizing all patch factors in adversarial patch attacks.