相关论文: Solving Visual Object Ambiguities when Pointing: A…

Human-robot object handover is a crucial element for assistive robots that aim to help people in their daily lives, including elderly care, hospitals, and factory floors. The existing approaches to solving these tasks rely on pre-selected…

Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…

Robotic task instructions often involve a referred object that the robot must locate (ground) within the environment. While task intent understanding is an essential part of natural language understanding, less effort is made to resolve…

Reliable perception and efficient adaptation to novel conditions are priority skills for humanoids that function in dynamic environments. The vast advancements in latest computer vision research, brought by deep learning methods, are…

Online recognition of gestures is critical for intuitive human-robot interaction (HRI) and further push collaborative robotics into the market, making robots accessible to more people. The problem is that it is difficult to achieve accurate…

Robotic manipulation in complex open-world scenarios requires both reliable physical manipulation skills and effective and generalizable perception. In this paper, we propose a method where general purpose pretrained visual models serve as…

In this paper a neuro-robotics model capable of counting using gestures is introduced. The contribution of gestures to learning to count is tested with various model and training conditions. Two studies were presented in this article. In…

Gesture is an important mean of non-verbal communication, with visual modality allows human to convey information during interaction, facilitating peoples and human-machine interactions. However, it is considered difficult to automatically…

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…

This paper presents INGRESS, a robot system that follows human natural language instructions to pick and place everyday objects. The core issue here is the grounding of referring expressions: infer objects and their relationships from input…

Humans use semantic concepts such as spatial relations between objects to describe scenes and communicate tasks such as "Put the tea to the right of the cup" or "Move the plate between the fork and the spoon." Just as children, assistive…

Non-verbal communication is part of our regular conversation, and multiple gestures are used to exchange information. Among those gestures, pointing is the most important one. If such gestures cannot be perceived by other team members, e.g.…

We address the problem of inferring self-supervised dense semantic correspondences between objects in multi-object scenes. The method introduces learning of class-aware dense object descriptors by providing either unsupervised discrete…

This paper proposes methods for unsupervised lexical acquisition for relative spatial concepts using spoken user utterances. A robot with a flexible spoken dialog system must be able to acquire linguistic representation and its meaning…

The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…

Unsupervised representation learning techniques, such as learning word embeddings, have had a significant impact on the field of natural language processing. Similar representation learning techniques have not yet become commonplace in the…

Acquiring knowledge about object interactions and affordances can facilitate scene understanding and human-robot collaboration tasks. As humans tend to use objects in many different ways depending on the scene and the objects' availability,…

In recent years robots have become an important part of our day-to-day lives with various applications. Human-robot interaction creates a positive impact in the field of robotics to interact and communicate with the robots. Gesture…

This paper presents a novel yet intuitive approach to unsupervised feature learning. Inspired by the human visual system, we explore whether low-level motion-based grouping cues can be used to learn an effective visual representation.…

Human-object interaction segmentation is a fundamental task of daily activity understanding, which plays a crucial role in applications such as assistive robotics, healthcare, and autonomous systems. Most existing learning-based methods…