相关论文: Aligning Knowledge Graph with Visual Perception fo…

Current deep learning methods for object recognition are purely data-driven and require a large number of training samples to achieve good results. Due to their sole dependence on image data, these methods tend to fail when confronted with…

Social recommendation task aims to predict users' preferences over items with the incorporation of social connections among users, so as to alleviate the sparse issue of collaborative filtering. While many recent efforts show the…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

Large scale scenes such as multifloor homes can be robustly and efficiently mapped with a 3D graph of landmarks estimated jointly with robot poses in a factor graph, a technique commonly used in commercial robots such as drones and robot…

The primary goal of Visual Analytics (VA) is to enable user-guided knowledge generation. Theoretical VA works to explain how the different aspects of a VA tool bring forth new insights through user interactivity, which itself can be…

The semantic gap is defined as the difference between the linguistic representations of the same concept, which usually leads to misunderstanding between individuals with different knowledge backgrounds. Since linguistically annotated…

Although learning-based vision-and-language navigation (VLN) agents can learn spatial knowledge implicitly from large-scale training data, zero-shot VLN agents lack this process, relying primarily on local observations for navigation, which…

Zero-shot scene understanding in real-world settings presents major challenges due to the complexity and variability of natural scenes, where models must recognize new objects, actions, and contexts without prior labeled examples. This work…

To coordinate with other systems, agents must be able to determine what the systems are currently doing and predict what they will be doing in the future---plan and goal recognition. There are many methods for plan and goal recognition, but…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…

3D visual grounding aims to localize the unique target described by natural languages in 3D scenes. The significant gap between 3D and language modalities makes it a notable challenge to distinguish multiple similar objects through the…

Data association is at the core of many computer vision tasks, e.g., multiple object tracking, image matching, and point cloud registration. however, current data association solutions have some defects: they mostly ignore the intra-view…

In recent years, developing AI for robotics has raised much attention. The interaction of vision and language of robots is particularly difficult. We consider that giving robots an understanding of visual semantics and language semantics…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

Learning is an inherently continuous phenomenon. When humans learn a new task there is no explicit distinction between training and inference. As we learn a task, we keep learning about it while performing the task. What we learn and how we…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

Visual navigation with an image as goal is a fundamental and challenging problem. Conventional methods either rely on end-to-end RL learning or modular-based policy with topological graph or BEV map as memory, which cannot fully model the…

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…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…