相关论文: A Multimodal Classifier Generative Adversarial Net…

In this paper, we address multimodal language understanding for unconstrained fetching instruction in domestic service robots context. A typical fetching instruction such as "Bring me the yellow toy from the white shelf" requires to infer…

In this study, we focus on multimodal language understanding for fetching instructions in the domestic service robots context. This task consists of predicting a target object, as instructed by the user, given an image and an unstructured…

Generative adversarial networks (GANs) have succeeded in inducing cross-lingual word embeddings -- maps of matching words across languages -- without supervision. Despite these successes, GANs' performance for the difficult case of distant…

It is known that the inconsistent distribution and representation of different modalities, such as image and text, cause the heterogeneity gap that makes it challenging to correlate such heterogeneous data. Generative adversarial networks…

The target task of this study is grounded language understanding for domestic service robots (DSRs). In particular, we focus on instruction understanding for short sentences where verbs are missing. This task is of critical importance to…

We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…

In this paper, we focus on a vision-and-language task in which a robot is instructed to execute household tasks. Given an instruction such as "Rinse off a mug and place it in the coffee maker," the robot is required to locate the mug, wash…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

Ambiguities are inevitable in human-robot interaction, especially when a robot follows user instructions in a large, shared space. For example, if a user asks the robot to find an object in a home environment with underspecified…

Multimodal learning combines multiple data modalities, broadening the types and complexity of data our models can utilize: for example, from plain text to image-caption pairs. Most multimodal learning algorithms focus on modeling simple…

Continuous multimodal representations suitable for multimodal information retrieval are usually obtained with methods that heavily rely on multimodal autoencoders. In video hyperlinking, a task that aims at retrieving video segments, the…

Robots operating alongside humans in diverse, stochastic environments must be able to accurately interpret natural language commands. These instructions often fall into one of two categories: those that specify a goal condition or target…

One of the most interesting challenges in Artificial Intelligence is to train conditional generators which are able to provide labeled adversarial samples drawn from a specific distribution. In this work, a new framework is presented to…

Teaching an agent to perform new tasks using natural language can easily be hindered by ambiguities in interpretation. When a teacher provides an instruction to a learner about an object by referring to its features, the learner can…

Decreasing skilled workers is a very serious problem in the world. To deal with this problem, the skill transfer from experts to robots has been researched. These methods which teach robots by human motion are called imitation learning.…

When robots work in a cluttered environment, the constraints for motions change frequently and the required action can change even for the same task. However, planning complex motions from direct calculation has the risk of resulting in…

Despite the potential benefits of data augmentation for mitigating the data insufficiency, traditional augmentation methods primarily rely on the prior intra-domain knowledge. On the other hand, advanced generative adversarial networks…

Imitation learning has traditionally been applied to learn a single task from demonstrations thereof. The requirement of structured and isolated demonstrations limits the scalability of imitation learning approaches as they are difficult to…

Gender bias is a significant issue in machine translation, leading to ongoing research efforts in developing bias mitigation techniques. However, most works focus on debiasing bilingual models without much consideration for multilingual…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…