相关论文: Learning-To-Rank Approach for Identifying Everyday…

Referring understanding is a fundamental task that bridges natural language and visual content by localizing objects described in free-form expressions. However, existing works are constrained by limited language expressiveness, lacking the…

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…

Existing referring understanding tasks tend to involve the detection of a single text-referred object. In this paper, we propose a new and general referring understanding task, termed referring multi-object tracking (RMOT). Its core idea is…

Building on existing approaches, we revisit Human-in-the-Loop Object Retrieval, a task that consists of iteratively retrieving images containing objects of a class-of-interest, specified by a user-provided query. Starting from a large…

Learning to Rank (LTR) technique is ubiquitous in the Information Retrieval system nowadays, especially in the Search Ranking application. The query-item relevance labels typically used to train the ranking model are often noisy…

Learning-to-Rank (LTR) is a supervised machine learning approach that constructs models specifically designed to order a set of items or documents based on their relevance or importance to a given query or context. Despite significant…

Referring multi-object tracking (RMOT) is an emerging cross-modal task that aims to locate an arbitrary number of target objects and maintain their identities referred by a language expression in a video. This intricate task involves the…

Referring multi-object tracking (RMOT) is an emerging cross-modal task that aims to localize an arbitrary number of targets based on a language expression and continuously track them in a video. This intricate task involves reasoning on…

In daily domestic settings, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a result, it becomes challenging for a robot to…

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…

Referring Multi-Object Tracking (RMOT) is an important topic in the current tracking field. Its task form is to guide the tracker to track objects that match the language description. Current research mainly focuses on referring…

We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…

Household robots operate in the same space for years. Such robots incrementally build dynamic maps that can be used for tasks requiring remote object localization. However, benchmarks in robot learning often test generalization through…

Personalization is critical for the advancement of service robots. Robots need to develop tailored understandings of the environments they are put in. Moreover, they need to be aware of changes in the environment to facilitate long-term…

We propose an extensible deep learning method that uses reinforcement learning to train neural networks for offline ranking in information retrieval (IR). We call our method BanditRank as it treats ranking as a contextual bandit problem. In…

Humans use spatial language to naturally describe object locations and their relations. Interpreting spatial language not only adds a perceptual modality for robots, but also reduces the barrier of interfacing with humans. Previous work…

In recent years, the demand for service robots capable of executing tasks beyond autonomous navigation has grown. In the future, service robots will be expected to perform complex tasks like 'Set table for dinner'. High-level tasks like…

For a robot to personalize physical assistance effectively, it must learn user preferences that can be generally reapplied to future scenarios. In this work, we investigate personalization of household cleanup with robots that can tidy up…

Object search is a challenging task because when given complex language descriptions (e.g., "find the white cup on the table"), the robot must move its camera through the environment and recognize the described object. Previous works map…

We propose FindIt, a simple and versatile framework that unifies a variety of visual grounding and localization tasks including referring expression comprehension, text-based localization, and object detection. Key to our architecture is an…