相关论文: Grounded Language Understanding for Manipulation I…

Learning Based Robot Grasping currently involves the use of labeled data. This approach has two major disadvantages. Firstly, labeling data for grasp points and angles is a strenuous process, so the dataset remains limited. Secondly, human…

We study the problem of learning a robot policy to follow natural language instructions that can be easily extended to reason about new objects. We introduce a few-shot language-conditioned object grounding method trained from augmented…

ASR has been shown to achieve great performance recently. However, most of them rely on massive paired data, which is not feasible for low-resource languages worldwide. This paper investigates how to learn directly from unpaired phone…

In recent years, neural network approaches have been widely adopted for machine learning tasks, with applications in computer vision. More recently, unsupervised generative models based on neural networks have been successfully applied to…

Generative Adversarial Networks (GANs) have been widely applied in different scenarios thanks to the development of deep neural networks. The original GAN was proposed based on the non-parametric assumption of the infinite capacity of…

Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…

We present a unified framework which supports grounding natural-language semantics in robotic driving. This framework supports acquisition (learning grounded meanings of nouns and prepositions from human annotation of robotic driving…

We present a visually-grounded language understanding model based on a study of how people verbally describe objects in scenes. The emphasis of the model is on the combination of individual word meanings to produce meanings for complex…

Human-to-human conversation is not just talking and listening. It is an incremental process where participants continually establish a common understanding to rule out misunderstandings. Current language understanding methods for…

Accurate vision-based action recognition is crucial for developing autonomous robots that can operate safely and reliably in complex, real-world environments. In this work, we advance video-based recognition of indoor daily actions for…

Deep learning is at the core of recent spoken language understanding (SLU) related tasks. More precisely, deep neural networks (DNNs) drastically increased the performances of SLU systems, and numerous architectures have been proposed. In…

Deep learning-based approaches achieve state-of-the-art performance in the majority of image segmentation benchmarks. However, training of such models requires a sizable amount of manual annotations. In order to reduce this effort, we…

Many task domains require robots to interpret and act upon natural language commands which are given by people and which refer to the robot's physical surroundings. Such interpretation is known variously as the symbol grounding problem,…

Approaches to Grounded Language Learning typically focus on a single task-based final performance measure that may not depend on desirable properties of the learned hidden representations, such as their ability to predict salient attributes…

Vision language action (VLA) models enable generalist robotic agents but often exhibit language ignorance, relying on visual shortcuts and remaining insensitive to instruction changes. We present Prospective Grounding and Alignment VLA…

Generative Adversarial Networks (GANs) have experienced a recent surge in popularity, performing competitively in a variety of tasks, especially in computer vision. However, GAN training has shown limited success in natural language…

Learning fine-grained movements is a challenging topic in robotics, particularly in the context of robotic hands. One specific instance of this challenge is the acquisition of fingerspelling sign language in robots. In this paper, we…

This paper introduces Grounded Image Text Matching with Mismatched Relation (GITM-MR), a novel visual-linguistic joint task that evaluates the relation understanding capabilities of transformer-based pre-trained models. GITM-MR requires a…

Producing a large annotated speech corpus for training ASR systems remains difficult for more than 95% of languages all over the world which are low-resourced, but collecting a relatively big unlabeled data set for such languages is more…

Scaling unsupervised skill discovery algorithms to high-DoF agents remains challenging. As dimensionality increases, the exploration space grows exponentially, while the manifold of meaningful skills remains limited. Therefore, semantic…