相关论文: Where Are You? Localization from Embodied Dialog

We address the challenging task of Localization via Embodied Dialog (LED). Given a dialog from two agents, an Observer navigating through an unknown environment and a Locator who is attempting to identify the Observer's location, the goal…

Multimodal learning has advanced the performance for many vision-language tasks. However, most existing works in embodied dialog research focus on navigation and leave the localization task understudied. The few existing dialog-based…

Robots navigating in human environments should use language to ask for assistance and be able to understand human responses. To study this challenge, we introduce Cooperative Vision-and-Dialog Navigation, a dataset of over 2k embodied,…

In this work, we study the problem of Embodied Referring Expression Grounding, where an agent needs to navigate in a previously unseen environment and localize a remote object described by a concise high-level natural language instruction.…

Predicting where people can walk in a scene is important for many tasks, including autonomous driving systems and human behavior analysis. Yet learning a computational model for this purpose is challenging due to semantic ambiguity and a…

A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…

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…

Situated embodied conversation requires robots to interleave real-time dialogue with active perception: deciding what to look at, when to look, and what to say under tight latency constraints. We present a simple, minimal system recipe that…

While current visual captioning models have achieved impressive performance, they often assume that the image is well-captured and provides a complete view of the scene. In real-world scenarios, however, a single image may not offer a good…

Effective collaboration between embodied agents requires more than acting in a shared environment; it demands communication grounded in each agent's evolving understanding of the world. When agents can only partially observe their…

We study the problem of jointly reasoning about language and vision through a navigation and spatial reasoning task. We introduce the Touchdown task and dataset, where an agent must first follow navigation instructions in a real-life visual…

There has been a significant recent progress in the field of Embodied AI with researchers developing models and algorithms enabling embodied agents to navigate and interact within completely unseen environments. In this paper, we propose a…

Recent advances in deep thinking models have demonstrated remarkable reasoning capabilities on mathematical and coding tasks. However, their effectiveness in embodied domains which require continuous interaction with environments through…

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 DialNav, a novel collaborative embodied dialog task, where a navigation agent (Navigator) and a remote guide (Guide) engage in multi-turn dialog to reach a goal location. Unlike prior work, DialNav aims for holistic evaluation…

In the realm of computer vision and robotics, embodied agents are expected to explore their environment and carry out human instructions. This necessitates the ability to fully understand 3D scenes given their first-person observations and…

Visual grounding in 3D is the key for embodied agents to localize language-referred objects in open-world environments. However, existing benchmarks are limited to indoor focus, single-platform constraints, and small scale. We introduce…

Autonomous robot systems for applications from search and rescue to assistive guidance should be able to engage in natural language dialog with people. To study such cooperative communication, we introduce Robot Simultaneous Localization…

Nowadays, users are encouraged to activate across multiple online social networks simultaneously. Anchor link prediction, which aims to reveal the correspondence among different accounts of the same user across networks, has been regarded…

Robots operating in human spaces must be able to engage in natural language interaction with people, both understanding and executing instructions, and using conversation to resolve ambiguity and recover from mistakes. To study this, we…