相关论文: Look, Listen, and Act: Towards Audio-Visual Embodi…

This study focuses on Embodied Complex-Question Answering task, which means the embodied robot need to understand human questions with intricate structures and abstract semantics. The core of this task lies in making appropriate plans based…

Embodied artificial intelligence (Embodied AI) plays a pivotal role in the application of advanced technologies in the intelligent era, where AI systems are integrated with physical bodies that enable them to perceive, reason, and interact…

Visual navigation takes inspiration from humans, who navigate in previously unseen environments using vision without detailed environment maps. Inspired by this, we introduce a novel no-RL, no-graph, no-odometry approach to visual…

Embodied instruction following is a challenging problem requiring an agent to infer a sequence of primitive actions to achieve a goal environment state from complex language and visual inputs. Action Learning From Realistic Environments and…

We introduce the visual acoustic matching task, in which an audio clip is transformed to sound like it was recorded in a target environment. Given an image of the target environment and a waveform for the source audio, the goal is to…

In this paper, we introduce a novel audio-visual multi-modal bridging framework that can utilize both audio and visual information, even with uni-modal inputs. We exploit a memory network that stores source (i.e., visual) and target (i.e.,…

While interacting in the world is a multi-sensory experience, many robots continue to predominantly rely on visual perception to map and navigate in their environments. In this work, we propose Audio-Visual-Language Maps (AVLMaps), a…

Humans and other intelligent animals evolved highly sophisticated perception systems that combine multiple sensory modalities. On the other hand, state-of-the-art artificial agents rely mostly on visual inputs or structured low-dimensional…

Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…

Localizing visual sounds consists on locating the position of objects that emit sound within an image. It is a growing research area with potential applications in monitoring natural and urban environments, such as wildlife migration and…

Autonomous navigation is a fundamental task for robot vacuum cleaners in indoor environments. Since their core function is to clean entire areas, robots inevitably encounter dead zones in cluttered and narrow scenarios. Existing planning…

Humans naturally perceive surrounding scenes by unifying sound and sight in a first-person view. Likewise, machines are advanced to approach human intelligence by learning with multisensory inputs from an egocentric perspective. In this…

Today's state of the art visual navigation agents typically consist of large deep learning models trained end to end. Such models offer little to no interpretability about the learned skills or the actions of the agent taken in response to…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

An embodied task such as embodied question answering (EmbodiedQA), requires an agent to explore the environment and collect clues to answer a given question that related with specific objects in the scene. The solution of such task usually…

Vision-and-language navigation requires an agent to navigate through a real 3D environment following natural language instructions. Despite significant advances, few previous works are able to fully utilize the strong correspondence between…

Vision-and-language navigation (VLN) agents are trained to navigate in real-world environments by following natural language instructions. A major challenge in VLN is the limited availability of training data, which hinders the models'…

Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in delivering detailed spatial information and precise guidance…

Audiovisual embodied navigation enables robots to locate audio sources by dynamically integrating visual observations from onboard sensors with the auditory signals emitted by the target. The core challenge lies in effectively leveraging…

Language-driven object navigation requires agents to interpret natural language descriptions of target objects, which combine intrinsic and extrinsic attributes for instance recognition and commonsense navigation. Existing methods either…