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

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Few-shot learning aims to correctly recognize query samples from unseen classes given a limited number of support samples, often by relying on global embeddings of images. In this paper, we propose to equip the backbone network with an…

Prompt-based approaches are strong at few-shot learning. However, Perez et al. (2021) have recently cast doubt on their performance because they had difficulty getting good results in a "true" few-shot setting in which prompts and…

Foundation models that incorporate language, vision, and more recently actions have revolutionized the ability to harness internet scale data to reason about useful tasks. However, one of the key challenges of training embodied foundation…

Natural language instructions are a powerful interface for editing the outputs of text-to-image diffusion models. However, several challenges need to be addressed: 1) underspecification (the need to model the implicit meaning of…

Different from static images, videos contain additional temporal and spatial information for better object detection. However, it is costly to obtain a large number of videos with bounding box annotations that are required for supervised…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

The ability to communicate with robots using natural language is a significant step forward in human-robot interaction. However, accurately translating verbal commands into physical actions is promising, but still presents challenges.…

A robot that can carry out a natural-language instruction has been a dream since before the Jetsons cartoon series imagined a life of leisure mediated by a fleet of attentive robot helpers. It is a dream that remains stubbornly distant.…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

We propose a new method for fine-grained few-shot recognition via deep object parsing. In our framework, an object is made up of K distinct parts and for each part, we learn a dictionary of templates, which is shared across all instances…

Few-shot classification consists of a training phase where a model is learned on a relatively large dataset and an adaptation phase where the learned model is adapted to previously-unseen tasks with limited labeled samples. In this paper,…

Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…

It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…

Humans are adept at learning new tasks by watching a few instructional videos. On the other hand, robots that learn new actions either require a lot of effort through trial and error, or use expert demonstrations that are challenging to…

The ability to successfully grasp objects is crucial in robotics, as it enables several interactive downstream applications. To this end, most approaches either compute the full 6D pose for the object of interest or learn to predict a set…

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…

Reinforcement learning (RL), particularly in sparse reward settings, often requires prohibitively large numbers of interactions with the environment, thereby limiting its applicability to complex problems. To address this, several prior…

Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…

Generalization is a pivotal challenge for agents following natural language instructions. To approach this goal, we leverage a vision-language model (VLM) for visual grounding and transfer its vision-language knowledge into reinforcement…