相关论文: An Exploration of Embodied Visual Exploration

Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…

Nowadays, robots are dominating the manufacturing, entertainment and healthcare industries. Robot vision aims to equip robots with the ability to discover information, understand it and interact with the environment. These capabilities…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Exploration of unknown space with an autonomous mobile robot is a well-studied problem. In this work we broaden the scope of exploration, moving beyond the pure geometric goal of uncovering as much free space as possible. We believe that…

Vision-language models demonstrate unprecedented performance and generalization across a wide range of tasks and scenarios. Integrating these foundation models into robotic navigation systems opens pathways toward building general-purpose…

Vision Language Models (VLMs) demonstrate significant potential as embodied AI agents for various mobility applications. However, a standardized, closed-loop benchmark for evaluating their spatial reasoning and sequential decision-making…

Visual Grounding, also known as Referring Expression Comprehension and Phrase Grounding, aims to ground the specific region(s) within the image(s) based on the given expression text. This task simulates the common referential relationships…

3D occupancy prediction provides a comprehensive description of the surrounding scenes and has become an essential task for 3D perception. Most existing methods focus on offline perception from one or a few views and cannot be applied to…

In this paper, we argue that the future of Artificial Intelligence research resides in two keywords: integration and embodiment. We support this claim by analyzing the recent advances of the field. Regarding integration, we note that the…

Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…

As large language models (LLMs) continue to advance and gain influence, the development of embodied AI has accelerated, drawing significant attention, particularly in navigation scenarios. Embodied navigation requires an agent to perceive,…

Autonomous robots are currently one of the most popular Artificial Intelligence problems, having experienced significant advances in the last decade, from Self-driving cars and humanoids to delivery robots and drones. Part of the problem is…

Existing computer vision systems can compete with humans in understanding the visible parts of objects, but still fall far short of humans when it comes to depicting the invisible parts of partially occluded objects. Image amodal completion…

Recent time-contrastive learning approaches manage to learn invariant object representations without supervision. This is achieved by mapping successive views of an object onto close-by internal representations. When considering this…

Exploration of an unknown environment by a mobile robot is a complex task involving solution of many fundamental problems from data processing, localization to high-level planning and decision making. The exploration framework we developed…

Semantic embeddings have advanced the state of the art for countless natural language processing tasks, and various extensions to multimodal domains, such as visual-semantic embeddings, have been proposed. While the power of visual-semantic…

The last few years have witnessed substantial progress in the field of embodied AI where artificial agents, mirroring biological counterparts, are now able to learn from interaction to accomplish complex tasks. Despite this success,…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

The perceived similarity between objects has often been attributed to their physical and conceptual features, such as appearance and animacy, and the theoretical framework of object space is accordingly conceived. Here, we extend this…

This paper considers the problem of efficient exploration of unseen environments, a key challenge in AI. We propose a `learning to explore' framework where we learn a policy from a distribution of environments. At test time, presented with…