Related papers: A Parameter-Efficient Tuning Framework for Languag…
Task-oriented object grasping and rearrangement are critical skills for robots to accomplish different real-world manipulation tasks. However, they remain challenging due to partial observations of the objects and shape variations in…
Recent development in vision-language approaches has instigated a paradigm shift in learning visual recognition models from language supervision. These approaches align objects with language queries (e.g. "a photo of a cat") and improve the…
The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…
Many robotic tasks require grasping objects at specific object parts instead of arbitrarily, a crucial capability for interactions beyond simple pick-and-place, such as human-robot interaction, handovers, or tool use. Prior work has focused…
The workflow of pretraining and fine-tuning has emerged as a popular paradigm for solving various NLP and V&L (Vision-and-Language) downstream tasks. With the capacity of pretrained models growing rapidly, how to perform parameter-efficient…
Language-Conditioned Robotic Grasping (LCRG) aims to develop robots that comprehend and grasp objects based on natural language instructions. While the ability to understand personal objects like my wallet facilitates more natural…
LVLMs have been shown to perform excellently in image-level tasks such as VQA and caption. However, in many instance-level tasks, such as visual grounding and object detection, LVLMs still show performance gaps compared to previous expert…
In the pursuit of efficient automated content creation, procedural generation, leveraging modifiable parameters and rule-based systems, emerges as a promising approach. Nonetheless, it could be a demanding endeavor, given its intricate…
Target-oriented grasping in unstructured scenes with language control is essential for intelligent robot arm grasping. The ability for the robot arm to understand the human language and execute corresponding grasping actions is a pivotal…
Pixel grounding, encompassing tasks such as Referring Expression Segmentation (RES), has garnered considerable attention due to its immense potential for bridging the gap between vision and language modalities. However, advancements in this…
Single-domain generalized object detection aims to enhance a model's generalizability to multiple unseen target domains using only data from a single source domain during training. This is a practical yet challenging task as it requires the…
Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…
Visual grounding aims to localize the object referred to in an image based on a natural language query. Although progress has been made recently, accurately localizing target objects within multiple-instance distractions (multiple objects…
This paper presents the Language Aided Subset Sampling Based Motion Planner (LASMP), a system that helps mobile robots plan their movements by using natural language instructions. LASMP uses a modified version of the Rapidly Exploring…
Adapting pretrained language models to novel domains, such as clinical applications, traditionally involves retraining their entire set of parameters. Parameter-Efficient Fine-Tuning (PEFT) techniques for fine-tuning language models…
The existing works on object-level language grounding with 3D objects mostly focus on improving performance by utilizing the off-the-shelf pre-trained models to capture features, such as viewpoint selection or geometric priors. However,…
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…
This study aims to explore efficient tuning methods for the screenshot captioning task. Recently, image captioning has seen significant advancements, but research in captioning tasks for mobile screens remains relatively scarce. Current…
Multi-modal large language models (MLLMs) have demonstrated remarkable success in vision and visual-language tasks within the natural image domain. Owing to the significant diversities between the natural and remote sensing (RS) images, the…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…