相关论文: Few-shot Object Grounding and Mapping for Natural …

Unsupervised image-to-image translation methods learn to map images in a given class to an analogous image in a different class, drawing on unstructured (non-registered) datasets of images. While remarkably successful, current methods…

The goal of few-shot learning is to learn a model that can recognize novel classes based on one or few training data. It is challenging mainly due to two aspects: (1) it lacks good feature representation of novel classes; (2) a few of…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

We are increasingly surrounded by artificially intelligent technology that takes decisions and executes actions on our behalf. This creates a pressing need for general means to communicate with, instruct and guide artificial agents, with…

Robot navigation methods allow mobile robots to operate in applications such as warehouses or hospitals. While the environment in which the robot operates imposes requirements on its navigation behavior, most existing methods do not allow…

In this paper we explore few-shot imitation learning for control problems, which involves learning to imitate a target policy by accessing a limited set of offline rollouts. This setting has been relatively under-explored despite its…

This paper emphasizes the importance of a robot's ability to refer to its task history, especially when it executes a series of pick-and-place manipulations by following language instructions given one by one. The advantage of referring to…

Robots need to have a memory of previously observed, but currently occluded objects to work reliably in realistic environments. We investigate the problem of encoding object-oriented memory into a multi-object manipulation reasoning and…

Few-shot learning is a problem of high interest in the evolution of deep learning. In this work, we consider the problem of few-shot object detection (FSOD) in a real-world, class-imbalanced scenario. For our experiments, we utilize the…

Few-shot Learning (FSL) aims to classify new concepts from a small number of examples. While there have been an increasing amount of work on few-shot object classification in the last few years, most current approaches are limited to images…

In this paper, we deal with the problem of object detection on remote sensing images. Previous methods have developed numerous deep CNN-based methods for object detection on remote sensing images and the report remarkable achievements in…

Interacting with the world is a multi-sensory experience: achieving effective general-purpose interaction requires making use of all available modalities -- including vision, touch, and audio -- to fill in gaps from partial observation. For…

Conventional training of a deep CNN based object detector demands a large number of bounding box annotations, which may be unavailable for rare categories. In this work we develop a few-shot object detector that can learn to detect novel…

This work studies the problem of few-shot object counting, which counts the number of exemplar objects (i.e., described by one or several support images) occurring in the query image. The major challenge lies in that the target objects can…

We present a model that jointly learns the denotations of words together with their groundings using a truth-conditional semantics. Our model builds on the neurosymbolic approach of Mao et al. (2019), learning to ground objects in the CLEVR…

Although haptic sensing has recently been used for legged robot localization in extreme environments where a camera or LiDAR might fail, the problem of efficiently representing the haptic signatures in a learned prior map is still open.…

Many task domains require robots to interpret and act upon natural language commands which are given by people and which refer to the robot's physical surroundings. Such interpretation is known variously as the symbol grounding problem,…

We consider the problem of learning to map from natural language instructions to state transitions (actions) in a data-efficient manner. Our method takes inspiration from the idea that it should be easier to ground language to concepts that…

The target task of this study is grounded language understanding for domestic service robots (DSRs). In particular, we focus on instruction understanding for short sentences where verbs are missing. This task is of critical importance to…

In-context learning has become an important approach for few-shot learning in Large Language Models because of its ability to rapidly adapt to new tasks without fine-tuning model parameters. However, it is restricted to applications in…