相关论文: Scene Recognition Through Visual and Acoustic Cues…

We present a novel problem setting in zero-shot learning, zero-shot object recognition and detection in the context. Contrary to the traditional zero-shot learning methods, which simply infers unseen categories by transferring knowledge…

Environmental sound recognition (ESR) is an emerging research topic in audio pattern recognition. Many tasks are presented to resort to computational models for ESR in real-life applications. However, current models are usually designed for…

Continual learning aims to refine model parameters for new tasks while retaining knowledge from previous tasks. Recently, prompt-based learning has emerged to leverage pre-trained models to be prompted to learn subsequent tasks without the…

Navigation is a rich and well-grounded problem domain that drives progress in many different areas of research: perception, planning, memory, exploration, and optimisation in particular. Historically these challenges have been separately…

Grounded Situation Recognition (GSR) is capable of recognizing and interpreting visual scenes in a contextually intuitive way, yielding salient activities (verbs) and the involved entities (roles) depicted in images. In this work, we focus…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

Upper-limb exoskeletons are primarily designed to provide assistive support by accurately interpreting and responding to human intentions. In home-care scenarios, exoskeletons are expected to adapt their assistive configurations based on…

This paper presents an audio visual automatic speech recognition (AV-ASR) system using a Transformer-based architecture. We particularly focus on the scene context provided by the visual information, to ground the ASR. We extract…

A core aspect of human perception is situated awareness, the ability to relate ourselves to the surrounding physical environment and reason over possible actions in context. However, most existing benchmarks for multimodal foundation models…

Affordance learning is a complex challenge in many applications, where existing approaches primarily focus on the geometric structures, visual knowledge, and affordance labels of objects to determine interactable regions. However, extending…

Multimodal scene search of conversations is essential for unlocking valuable insights into social dynamics and enhancing our communication. While experts in conversational analysis have their own knowledge and skills to find key scenes, a…

The objective of the sound source localization task is to enable machines to detect the location of sound-making objects within a visual scene. While the audio modality provides spatial cues to locate the sound source, existing approaches…

In this study, we try to address the problem of leveraging visual signals to improve Automatic Speech Recognition (ASR), also known as visual context-aware ASR (VC-ASR). We explore novel VC-ASR approaches to leverage video and text…

In computational reinforcement learning, a growing body of work seeks to construct an agent's perception of the world through predictions of future sensations; predictions about environment observations are used as additional input features…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…

Healthcare robotics requires robust multimodal perception and reasoning to ensure safety in dynamic clinical environments. Current Vision-Language Models (VLMs) demonstrate strong general-purpose capabilities but remain limited in temporal…

Deep learning models have achieved state-of-the- art performance in recognizing human activities, but often rely on utilizing background cues present in typical computer vision datasets that predominantly have a stationary camera. If these…

Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language…