相关论文: ShapeGlot: Learning Language for Shape Differentia…

We introduce PartGlot, a neural framework and associated architectures for learning semantic part segmentation of 3D shape geometry, based solely on part referential language. We exploit the fact that linguistic descriptions of a shape can…

Seemingly simple natural language requests to a robot are generally underspecified, for example "Can you bring me the wireless mouse?" Flat images of candidate mice may not provide the discriminative information needed for "wireless." The…

We develop a system to disambiguate object instances within the same class based on simple physical descriptions. The system takes as input a natural language phrase and a depth image containing a segmented object and predicts how similar…

The advent of large language models, enabling flexibility through instruction-driven approaches, has revolutionized many traditional generative tasks, but large models for 3D data, particularly in comprehensively handling 3D shapes with…

We propose PIGLeT: a model that learns physical commonsense knowledge through interaction, and then uses this knowledge to ground language. We factorize PIGLeT into a physical dynamics model, and a separate language model. Our dynamics…

We present a method for generating colored 3D shapes from natural language. To this end, we first learn joint embeddings of freeform text descriptions and colored 3D shapes. Our model combines and extends learning by association and metric…

Localizing objects in 3D scenes based on natural language requires understanding and reasoning about spatial relations. In particular, it is often crucial to distinguish similar objects referred by the text, such as "the left most chair"…

As robots become more ubiquitous and capable, it becomes ever more important to enable untrained users to easily interact with them. Recently, this has led to study of the language grounding problem, where the goal is to extract…

We investigate transductive zero-shot point cloud semantic segmentation, where the network is trained on seen objects and able to segment unseen objects. The 3D geometric elements are essential cues to imply a novel 3D object type. However,…

It is widely accepted that reasoning about object shape is important for object recognition. However, the most powerful object recognition methods today do not explicitly make use of object shape during learning. In this work, motivated by…

Grounded language acquisition -- learning how language-based interactions refer to the world around them -- is amajor area of research in robotics, NLP, and HCI. In practice the data used for learning consists almost entirely of textual…

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

The contribution of this paper is to provide a semantic model (using soft constraints) of the words used by web-users to describe objects in a language game; a game in which one user describes a selected object of those composing the scene,…

We present a new method, PARsing And visual GrOuNding (ParaGon), for grounding natural language in object placement tasks. Natural language generally describes objects and spatial relations with compositionality and ambiguity, two major…

Language is highly structured, with syntactic and semantic structures, to some extent, agreed upon by speakers of the same language. With implicit or explicit awareness of such structures, humans can learn and use language efficiently and…

This survey provides an overview of the evolution of visually grounded models of spoken language over the last 20 years. Such models are inspired by the observation that when children pick up a language, they rely on a wide range of…

Transfer learning aims to reduce the amount of data required to excel at a new task by re-using the knowledge acquired from learning other related tasks. This paper proposes a novel transfer learning scenario, which distills robust phonetic…

Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…

Neural network based models are a very powerful tool for creating word embeddings, the objective of these models is to group similar words together. These embeddings have been used as features to improve results in various applications such…

Most multimodal large language models (MLLMs) learn language-to-object grounding through causal language modeling where grounded objects are captured by bounding boxes as sequences of location tokens. This paradigm lacks pixel-level…