相关论文: Scene Graph for Embodied Exploration in Cluttered …

In Embodied Question Answering (EQA), agents must explore and develop a semantic understanding of an unseen environment to answer a situated question with confidence. This problem remains challenging in robotics, due to the difficulties in…

We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physical plausibility of the scene. We propose a novel learning…

Mobile manipulators in households must both navigate and manipulate. This requires a compact, semantically rich scene representation that captures where objects are, how they function, and which parts are actionable. Scene graphs are a…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

Visual Question Answering (VQA) is of tremendous interest to the research community with important applications such as aiding visually impaired users and image-based search. In this work, we explore the use of scene graphs for solving the…

Embodied agents are expected to perform more complicated tasks in an interactive environment, with the progress of Embodied AI in recent years. Existing embodied tasks including Embodied Referring Expression (ERE) and other QA-form tasks…

Structured scene representations are a core component of embodied agents, helping to consolidate raw sensory streams into readable, modular, and searchable formats. Due to their high computational overhead, many approaches build such…

Embodied Question Answering (EQA) serves as a benchmark task to evaluate the capability of robots to navigate within novel environments and identify objects in response to human queries. However, existing EQA methods often rely on simulated…

Embodied computer vision considers perception for robots in novel, unstructured environments. Of particular importance is the embodied visual exploration problem: how might a robot equipped with a camera scope out a new environment? Despite…

This study focuses on Embodied Complex-Question Answering task, which means the embodied robot need to understand human questions with intricate structures and abstract semantics. The core of this task lies in making appropriate plans based…

In this paper, we propose a novel task, Manipulation Question Answering (MQA), where the robot performs manipulation actions to change the environment in order to answer a given question. To solve this problem, a framework consisting of a…

In this paper, we propose a novel Knowledge-based Embodied Question Answering (K-EQA) task, in which the agent intelligently explores the environment to answer various questions with the knowledge. Different from explicitly specifying the…

The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…

Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…

Embodiment is an important characteristic for all intelligent agents (creatures and robots), while existing scene description tasks mainly focus on analyzing images passively and the semantic understanding of the scenario is separated from…

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 question answering (Visual QA) has attracted significant attention these years. While a variety of algorithms have been proposed, most of them are built upon different combinations of image and language features as well as…

Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible…

Collecting embodied interaction data at scale remains costly and difficult due to the limited accessibility of conventional interfaces. We present a gamified data collection framework based on Unity that combines procedural scene…

The intersection of vision and language is of major interest due to the increased focus on seamless integration between recognition and reasoning. Scene graphs (SGs) have emerged as a useful tool for multimodal image analysis, showing…