Related papers: Teaching Perception
Robots that interact with humans in a physical space or application need to think about the person's posture, which typically comes from visual sensors like cameras and infra-red. Artificial intelligence and machine learning algorithms use…
A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment…
Robots will eventually be part of every household. It is thus critical to enable algorithms to learn from and be guided by non-expert users. In this paper, we bring a human in the loop, and enable a human teacher to give feedback to a…
We present an empirical analysis of the state-of-the-art systems for referring expression recognition -- the task of identifying the object in an image referred to by a natural language expression -- with the goal of gaining insight into…
Active perception, the ability of a robot to proactively adjust its viewpoint to acquire task-relevant information, is essential for robust operation in unstructured real-world environments. While critical for downstream tasks such as…
The speed and accuracy with which robots are able to interpret natural language is fundamental to realizing effective human-robot interaction. A great deal of attention has been paid to developing models and approximate inference algorithms…
Common-sense physical reasoning in the real world requires learning about the interactions of objects and their dynamics. The notion of an abstract object, however, encompasses a wide variety of physical objects that differ greatly in terms…
Estimating the internal state of a robotic system is complex: this is performed from multiple heterogeneous sensor inputs and knowledge sources. Discretization of such inputs is done to capture saliences, represented as symbolic…
We present a system for generating and understanding of dynamic and static spatial relations in robotic interaction setups. Robots describe an environment of moving blocks using English phrases that include spatial relations such as…
For a robot to act intelligently, it needs to sense the world around it. Increasingly, robots build an internal representation of the world from sensor readings. This representation can then be used to inform downstream tasks, such as…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
Due to their unique persuasive power, language-capable robots must be able to both act in line with human moral norms and clearly and appropriately communicate those norms. These requirements are complicated by the possibility that humans…
Humans use multiple senses to comprehend the environment. Vision and language are two of the most vital senses since they allow us to easily communicate our thoughts and perceive the world around us. There has been a lot of interest in…
Humans understand language based on the rich background knowledge about how the physical world works, which in turn allows us to reason about the physical world through language. In addition to the properties of objects (e.g., boats require…
Making sense of incomplete and conflicting narrative knowledge in the presence of abnormalities, unobservable processes, and other real world considerations is a challenge and crucial requirement for cognitive robotics systems. An added…
The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…
Home robots may come with many sophisticated built-in abilities, however there will always be a degree of customization needed for each user and environment. Ideally this should be accomplished through one-shot learning, as collecting the…
Understanding of the phenomena of vision and thought require clarification of the general mechanism of perception. So far, philosophical inquiries and scientific investigations have not been able to address clearly the mysteries surrounding…
It is incredibly easy for a system designer to misspecify the objective for an autonomous system ("robot''), thus motivating the desire to have the robot learn the objective from human behavior instead. Recent work has suggested that people…
The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…