相关论文: RoboCSE: Robot Common Sense Embedding

This paper presents SimCSE, a simple contrastive learning framework that greatly advances state-of-the-art sentence embeddings. We first describe an unsupervised approach, which takes an input sentence and predicts itself in a contrastive…

This paper presents TCE: Temporally Coherent Embeddings for self-supervised video representation learning. The proposed method exploits inherent structure of unlabeled video data to explicitly enforce temporal coherency in the embedding…

A large body of compelling evidence has been accumulated demonstrating that embodiment - the agent's physical setup, including its shape, materials, sensors and actuators - is constitutive for any form of cognition and as a consequence,…

Imitation learning enables robots to learn new tasks from human examples. One fundamental limitation while learning from humans is causal confusion. Causal confusion occurs when the robot's observations include both task-relevant and…

We present the first comprehensive study on automatic knowledge base construction for two prevalent commonsense knowledge graphs: ATOMIC (Sap et al., 2019) and ConceptNet (Speer et al., 2017). Contrary to many conventional KBs that store…

Trustworthiness of artificially intelligent agents is vital for the acceptance of human-machine teaming in industrial manufacturing environments. Predictable behaviours and explainable (and understandable) rationale allow humans…

Tokenization and sub-tokenization based models like word2vec, BERT and the GPTs are the state-of-the-art in natural language processing. Typically, these approaches have limitations with respect to their input representation. They fail to…

This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…

It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…

The advances in AI-enabled techniques have accelerated the creation and automation of visualizations in the past decade. However, presenting visualizations in a descriptive and generative format remains a challenge. Moreover, current…

Commonsense reasoning benchmarks have been largely solved by fine-tuning language models. The downside is that fine-tuning may cause models to overfit to task-specific data and thereby forget their knowledge gained during pre-training.…

For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…

Autoencoders are commonly trained using element-wise loss. However, element-wise loss disregards high-level structures in the image which can lead to embeddings that disregard them as well. A recent improvement to autoencoders that helps…

We construct a multilingual common semantic space based on distributional semantics, where words from multiple languages are projected into a shared space to enable knowledge and resource transfer across languages. Beyond word alignment, we…

This thesis introduces "Embodied Spatial Intelligence" to address the challenge of creating robots that can perceive and act in the real world based on natural language instructions. To bridge the gap between Large Language Models (LLMs)…

Estimating the internal state of a robotic system is complex: this is performed from multiple heterogeneous sensor inputs and knowledge sources. Discretization of such inputs is done to capture saliences, represented as symbolic…

The ability to recognize human partners is an important social skill to build personalized and long-term human-robot interactions, especially in scenarios like education, care-giving, and rehabilitation. Faces and voices constitute two…

Contextualized representations trained over large raw text data have given remarkable improvements for NLP tasks including question answering and reading comprehension. There have been works showing that syntactic, semantic and word sense…

Scalable general-purpose representations of the built environment are crucial for geospatial artificial intelligence applications. This paper introduces S2Vec, a novel self-supervised framework for learning such geospatial embeddings. S2Vec…

Pre-trained large foundation models play a central role in the recent surge of artificial intelligence, resulting in fine-tuned models with remarkable abilities when measured on benchmark datasets, standard exams, and applications. Due to…