相关论文: Understanding Embodied Reference with Touch-Line T…

Embodied reference understanding is crucial for intelligent agents to predict referents based on human intention through gesture signals and language descriptions. This paper introduces the Attention-Dynamic DINO, a novel framework designed…

We study the understanding of embodied reference: One agent uses both language and gesture to refer to an object to another agent in a shared physical environment. Of note, this new visual task requires understanding multimodal cues with…

One of the main goals of robotics and intelligent agent research is to enable natural communication with humans in physically situated settings. While recent work has focused on verbal modes such as language and speech, non-verbal…

In face-to-face interaction, we use multiple modalities, including speech and gestures, to communicate information and resolve references to objects. However, how representational co-speech gestures refer to objects remains understudied…

Embodied Reference Understanding studies the reference understanding in an embodied fashion, where a receiver is required to locate a target object referred to by both language and gesture of the sender in a shared physical environment. Its…

Embodied Reference Understanding requires identifying a target object in a visual scene based on both language instructions and pointing cues. While prior works have shown progress in open-vocabulary object detection, they often fail in…

Generalization in embodied AI is hindered by the "seeing-to-doing gap," which stems from data scarcity and embodiment heterogeneity. To address this, we pioneer "pointing" as a unified, embodiment-agnostic intermediate representation,…

Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…

In measurement, a reference frame is needed to compare the measured object to something already known. This raises the neuroscientific question of which reference frame is used by humans when exploring the environment. Previous studies…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

3-Dimensional Embodied Reference Understanding (3D-ERU) combines a language description and an accompanying pointing gesture to identify the most relevant target object in a 3D scene. Although prior work has explored pure language-based 3D…

As robots enter human workspaces, there is a crucial need for them to comprehend embodied human instructions, enabling intuitive and fluent human-robot interaction (HRI). However, accurate comprehension is challenging due to a lack of…

Referring expression grounding aims at locating certain objects or persons in an image with a referring expression, where the key challenge is to comprehend and align various types of information from visual and textual domain, such as…

Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…

An important goal of computer vision is to build systems that learn visual representations over time that can be applied to many tasks. In this paper, we investigate a vision-language embedding as a core representation and show that it…

In recent years, as robotics has advanced, human-robot collaboration has gained increasing importance. However, current robots struggle to fully and accurately interpret human intentions from voice commands alone. Traditional gripper and…

Whenever we are addressing a specific object or refer to a certain spatial location, we are using referential or deictic gestures usually accompanied by some verbal description. Especially pointing gestures are necessary to dissolve…

Observing touch on another's body can elicit corresponding tactile sensations in the observer, a phenomenon termed mirror touch that supports empathy and social perception. This visuo-tactile resonance is thought to rely on structural…

Palpation, the use of touch in medical examination, is almost exclusively performed by humans. We investigate a proof of concept for an artificial palpation method based on self-supervised learning. Our key idea is that an encoder-decoder…

In human interaction, gestures serve various functions such as marking speech rhythm, highlighting key elements, and supplementing information. These gestures are also observed in explanatory contexts. However, the impact of gestures on…