Related papers: Zero-shot Interactive Perception

A big convergence of language, multimodal perception, action, and world modeling is a key step toward artificial general intelligence. In this work, we introduce Kosmos-1, a Multimodal Large Language Model (MLLM) that can perceive general…

Sensory substitution enables biological systems to perceive stimuli that are typically perceived by another organ, which is inspirational for physical agents. Multimodal perception of intrinsic and extrinsic interactions is critical in…

Compositional Zero-Shot Learning (CZSL) seeks to recognize unseen state-object pairs by recombining primitives learned from seen compositions. Despite recent progress with vision-language models (VLMs), two limitations remain: (i)…

Accurate video moment retrieval (VMR) requires universal visual-textual correlations that can handle unknown vocabulary and unseen scenes. However, the learned correlations are likely either biased when derived from a limited amount of…

The rocketing prosperity of large language models (LLMs) in recent years has boosted the prevalence of vision-language models (VLMs) in the medical sector. In our online medical consultation scenario, a doctor responds to the texts and…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

This paper presents VisLingInstruct, a novel approach to advancing Multi-Modal Language Models (MMLMs) in zero-shot learning. Current MMLMs show impressive zero-shot abilities in multi-modal tasks, but their performance depends heavily on…

Household environments are visually diverse. Embodied agents performing Vision-and-Language Navigation (VLN) in the wild must be able to handle this diversity, while also following arbitrary language instructions. Recently, Vision-Language…

We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support areas to take into account (a) frictional constraints and…

Zero-shot Learning (ZSL) classification categorizes or predicts classes (labels) that are not included in the training set (unseen classes). Recent works proposed different semantic autoencoder (SAE) models where the encoder embeds a visual…

We study zero-shot 3D alignment of two given meshes, using a text prompt describing their spatial relation -- an essential capability for content creation and scene assembly. Earlier approaches primarily rely on geometric alignment…

This paper introduces a novel framework for zero-shot learning (ZSL), i.e., to recognize new categories that are unseen during training, by using a multi-model and multi-alignment integration method. Specifically, we propose three…

Motion prediction is highly relevant to the perception of dynamic objects and static map elements in the scenarios of autonomous driving. In this work, we propose PIP, the first end-to-end Transformer-based framework which jointly and…

In this paper, we study the problem of zero-shot sketch-based image retrieval (ZS-SBIR). The prior methods tackle the problem in a two-modality setting with only category labels or even no textual information involved. However, the growing…

Understanding how humans leverage semantic knowledge to navigate unfamiliar environments and decide where to explore next is pivotal for developing robots capable of human-like search behaviors. We introduce a zero-shot navigation approach,…

We present ZeroComp, an effective zero-shot 3D object compositing approach that does not require paired composite-scene images during training. Our method leverages ControlNet to condition from intrinsic images and combines it with a Stable…

Recent approaches to zero-shot commonsense reasoning have enabled Pre-trained Language Models (PLMs) to learn a broad range of commonsense knowledge without being tailored to specific situations. However, they often suffer from human…

Contrastive Language-Image Pre-training (CLIP) has been shown to learn visual representations with great transferability, which achieves promising accuracy for zero-shot classification. To further improve its downstream performance,…

Zero-shot Vision-and-Language Navigation (VLN) agents leveraging Large Language Models (LLMs) excel in generalization but suffer from insufficient spatial perception. Focusing on complex continuous environments, we categorize key perceptual…

Vision Large Language Models (VLLMs) exhibit promising potential for multi-modal understanding, yet their application to video-based emotion recognition remains limited by insufficient spatial and contextual awareness. Traditional…