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

Robotic pick-and-place has been researched for a long time to cope with uncertainty of novel objects and changeable environments. Past works mainly focus on learning-based methods to achieve high precision. However, they have difficulty…

Virtualizing the physical world into virtual models has been a critical technique for robot navigation and planning in the real world. To foster manipulation with articulated objects in everyday life, this work explores building…

Existing object-search approaches enable robots to search through free pathways, however, robots operating in unstructured human-centered environments frequently also have to manipulate the environment to their needs. In this work, we…

We present PolyResponse, a conversational search engine that supports task-oriented dialogue. It is a retrieval-based approach that bypasses the complex multi-component design of traditional task-oriented dialogue systems and the use of…

Robots are extending their presence in domestic environments every day, being more common to see them carrying out tasks in home scenarios. In the future, robots are expected to increasingly perform more complex tasks and, therefore, be…

There are three fundamental asks from a ranking algorithm: it should scale to handle a large number of items, sort items accurately by their utility, and impose a total order on the items for logical consistency. But here's the catch-no…

Multi-Object Tracking (MOT) is a fundamental task in computer vision, aiming to track targets across video frames. Existing MOT methods perform well in general visual scenes, but face significant challenges and limitations when extended to…

Material recognition can help inform robots about how to properly interact with and manipulate real-world objects. In this paper, we present a multimodal sensing technique, leveraging near-infrared spectroscopy and close-range high…

Web applications where users are presented with a limited selection of items have long employed ranking models to put the most relevant results first. Any feedback received from users is typically assumed to reflect a relative judgement on…

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…

For many applications, robots will need to be incrementally trained to recognize the specific objects needed for an application. This paper presents a practical system for incrementally training a robot to recognize different object…

We envision robots that can collaborate and communicate seamlessly with humans. It is necessary for such robots to decide both what to say and how to act, while interacting with humans. To this end, we introduce a new task, dialogue object…

We present a large-scale study of imitating human demonstrations on tasks that require a virtual robot to search for objects in new environments -- (1) ObjectGoal Navigation (e.g. 'find & go to a chair') and (2) Pick&Place (e.g. 'find mug,…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

Aligning language models (LMs) with curated human feedback is critical to control their behaviors in real-world applications. Several recent policy optimization methods, such as DPO and SLiC, serve as promising alternatives to the…

In this study, we explore the sophisticated domain of task planning for robust household embodied agents, with a particular emphasis on the intricate task of selecting substitute objects. We introduce the CommonSense Object Affordance Task…

Referring Multi-Object Tracking (RMOT) aims to track specific targets based on language descriptions and is vital for interactive AI systems such as robotics and autonomous driving. However, existing RMOT models rely solely on 2D RGB data,…

Conventional multi-label recognition methods often focus on label confidence, frequently overlooking the pivotal role of partial order relations consistent with human preference. To resolve these issues, we introduce a novel method for…

Humans are undoubtedly the most important participants in computer vision, and the ability to detect any individual given a natural language description, a task we define as referring to any person, holds substantial practical value.…

Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…