相关论文: Knowledge-driven Scene Priors for Semantic Audio-V…

In the context of visual navigation, the capacity to map a novel environment is necessary for an agent to exploit its observation history in the considered place and efficiently reach known goals. This ability can be associated with spatial…

Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…

Developing embodied agents in simulation has been a key research topic in recent years. Exciting new tasks, algorithms, and benchmarks have been developed in various simulators. However, most of them assume deaf agents in silent…

The academic field of learning instruction-guided visual navigation can be generally categorized into high-level category-specific search and low-level language-guided navigation, depending on the granularity of language instruction, in…

In this paper our objectives are, first, networks that can embed audio and visual inputs into a common space that is suitable for cross-modal retrieval; and second, a network that can localize the object that sounds in an image, given the…

This work strives for the classification and localization of human actions in videos, without the need for any labeled video training examples. Where existing work relies on transferring global attribute or object information from seen to…

This paper presents a new approach for integrating semantic information for vision-based vehicle navigation. Although vision-based vehicle navigation systems using pre-mapped visual landmarks are capable of achieving submeter level accuracy…

In target-driven navigation and autonomous exploration, reasonable prediction of unknown regions is crucial for efficient navigation and environment understanding. Existing methods mostly focus on single objects or geometric occupancy maps,…

Unsupervised Domain Adaptation has been an efficient approach to transferring the semantic segmentation model across data distributions. Meanwhile, the recent Open-vocabulary Semantic Scene understanding based on large-scale vision language…

Advances in visual navigation methods have led to intelligent embodied navigation agents capable of learning meaningful representations from raw RGB images and perform a wide variety of tasks involving structural and semantic reasoning.…

In Audio-Visual Navigation (AVN), agents must locate sound sources in unseen 3D environments using visual and auditory cues. However, existing methods often struggle with generalization in unseen scenarios, as they tend to overfit to…

We consider the problem of embodied visual navigation given an image-goal (ImageNav) where an agent is initialized in an unfamiliar environment and tasked with navigating to a location 'described' by an image. Unlike related navigation…

Vision-Language Navigation requires the agent to follow natural language instructions to reach a specific target. The large discrepancy between seen and unseen environments makes it challenging for the agent to generalize well. Previous…

We are witnessing a confluence of vision, speech and dialog system technologies that are enabling the IVAs to learn audio-visual groundings of utterances and have conversations with users about the objects, activities and events surrounding…

Humans can easily imagine a scene from auditory information based on their prior knowledge of audio-visual events. In this paper, we mimic this innate human ability in deep learning models to improve the quality of video inpainting. To…

Mobile robots exploring indoor environments increasingly rely on vision-language models to perceive high-level semantic cues in camera images, such as object categories. Such models offer the potential to substantially advance robot…

Humans have the ability to utilize visual cues, such as lip movements and visual scenes, to enhance auditory perception, particularly in noisy environments. However, current Automatic Speech Recognition (ASR) or Audio-Visual Speech…

The goal of Audio-Visual Segmentation (AVS) is to localize and segment the sounding source objects from video frames. Research on AVS suffers from data scarcity due to the high cost of fine-grained manual annotations. Recent works attempt…

We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The…

Semantic world models enable embodied agents to reason about objects, relations, and spatial context beyond purely geometric representations. In Organic Computing, such models are a key enabler for objective-driven self-adaptation under…