相关论文: Switching Head-Tail Funnel UNITER for Dual Referri…

In this study, we aim to develop a domestic service robot (DSR) that, guided by open-vocabulary instructions, can carry everyday objects to the specified pieces of furniture. Few existing methods handle mobile manipulation tasks with…

Currently, domestic service robots have an insufficient ability to interact naturally through language. This is because understanding human instructions is complicated by various ambiguities and missing information. In existing methods, the…

Growing labor shortages are increasing the demand for domestic service robots (DSRs) to assist in various settings. In this study, we develop a DSR that transports everyday objects to specified pieces of furniture based on open-vocabulary…

Domestic service robots offer a solution to the increasing demand for daily care and support. A human-in-the-loop approach that combines automation and operator intervention is considered to be a realistic approach to their use in society.…

Most models tasked to ground referential utterances in 2D and 3D scenes learn to select the referred object from a pool of object proposals provided by a pre-trained detector. This is limiting because an utterance may refer to visual…

For robots to understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that comprehend referential language to identify common objects in real-world 3D scenes. In this paper,…

Although domestic service robots are expected to assist individuals who require support, they cannot currently interact smoothly with people through natural language. For example, given the instruction "Bring me a bottle from the kitchen,"…

There have been many studies in robotics to improve the communication skills of domestic service robots. Most studies, however, have not fully benefited from recent advances in deep neural networks because the training datasets are not…

We propose an end-to-end approach to the natural language object retrieval task, which localizes an object within an image according to a natural language description, i.e., referring expression. Previous works divide this problem into two…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Due to real-world dynamics and hardware uncertainty, robots inevitably fail in task executions, resulting in undesired or even dangerous executions. In order to avoid failures and improve robot performance, it is critical to identify and…

Joint image-text embedding is the bedrock for most Vision-and-Language (V+L) tasks, where multimodality inputs are simultaneously processed for joint visual and textual understanding. In this paper, we introduce UNITER, a UNiversal…

Future service robots working in human environments, such as kitchens, will face situations where they need to improvise. The usual tool for a given task might not be available and the robot will have to use some substitute tool. The robot…

Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…

In this paper, we address multimodal language understanding for unconstrained fetching instruction in domestic service robots context. A typical fetching instruction such as "Bring me the yellow toy from the white shelf" requires to infer…

The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…

To complete a complex task where a robot navigates to a goal object and fetches it, the robot needs to have a good understanding of the instructions and the surrounding environment. Large pre-trained models have shown capabilities to…

Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…