相关论文: Language Grounding with 3D Objects

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

Multi-view visual reasoning is essential for intelligent systems that must understand complex environments from sparse and discrete viewpoints, yet existing research has largely focused on single-image or temporally dense video settings. In…

Embodied scene understanding requires not only comprehending visual-spatial information that has been observed but also determining where to explore next in the 3D physical world. Existing 3D Vision-Language (3D-VL) models primarily focus…

Language grounding is an active field aiming at enriching textual representations with visual information. Generally, textual and visual elements are embedded in the same representation space, which implicitly assumes a one-to-one…

We present HOReeNet, which tackles the novel task of manipulating images involving hands, objects, and their interactions. Especially, we are interested in transferring objects of source images to target images and manipulating 3D hand…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understanding lies in detecting an object's affordances, which…

As part of human core knowledge, the representation of objects is the building block of mental representation that supports high-level concepts and symbolic reasoning. While humans develop the ability of perceiving objects situated in 3D…

Vision language models (VLMs) are AI systems paired with both language and vision encoders to process multimodal input. They are capable of performing complex semantic tasks such as automatic captioning, but it remains an open question…

State-of-the-art visual grounding models can achieve high detection accuracy, but they are not designed to distinguish between all objects versus only certain objects of interest. In natural language, in order to specify a particular object…

Human infants learn language while interacting with their environment in which their caregivers may describe the objects and actions they perform. Similar to human infants, artificial agents can learn language while interacting with their…

Robots are becoming increasingly popular in a wide range of environments due to their exceptional work capacity, precision, efficiency, and scalability. This development has been further encouraged by advances in Artificial Intelligence,…

We present a convolutional neural network for joint 3D shape prediction and viewpoint estimation from a single input image. During training, our network gets the learning signal from a silhouette of an object in the input image - a form of…

Humans excel at acquiring knowledge through observation. For example, we can learn to use new tools by watching demonstrations. This skill is fundamental for intelligent systems to interact with the world. A key step to acquire this skill…

Large Language Models (LLMs) have substantially improved the conversational capabilities of social robots. Nevertheless, for an intuitive and fluent human-robot interaction, robots should be able to ground the conversation by relating…

Context has proven to be one of the most important factors in object layout reasoning for 3D scene understanding. Existing deep contextual models either learn holistic features for context encoding or rely on pre-defined scene templates for…

Enabling intelligent agents to comprehend and interact with 3D environments through natural language is crucial for advancing robotics and human-computer interaction. A fundamental task in this field is ego-centric 3D visual grounding,…

Solving the visual symbol grounding problem has long been a goal of artificial intelligence. The field appears to be advancing closer to this goal with recent breakthroughs in deep learning for natural language grounding in static images.…

The success of large-scale contextual language models has attracted great interest in probing what is encoded in their representations. In this work, we consider a new question: to what extent contextual representations of concrete nouns…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…