相关论文: Continuous Object State Recognition for Cooking Ro…
For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…
Prediction is an appealing objective for self-supervised learning of behavioral skills, particularly for autonomous robots. However, effectively utilizing predictive models for control, especially with raw image inputs, poses a number of…
In partially observed environments, it can be useful for a human to provide the robot with declarative information that represents probabilistic relational constraints on properties of objects in the world, augmenting the robot's sensory…
This is a research exploring existing models and fine tuning them to combine a YOLOv8 segmentation model, a LSTM model trained on hand point motion sequence and a ASR (whisper-base) to extract enough data for a LLM (TinyLLaMa) to predict…
$ $As a result of bad eating habits, humanity may be destroyed. People are constantly on the lookout for tasty foods, with junk foods being the most common source. As a consequence, our eating patterns are shifting, and we're gravitating…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…
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…
Food image recognition is a challenging task in computer vision due to the high variability and complexity of food images. In this study, we investigate the potential of Noisy Vision Transformers (NoisyViT) for improving food classification…
Based on life-long observations of physical, chemical, and biologic phenomena in the natural world, humans can often easily picture in their minds what an object will look like in the future. But, what about computers? In this paper, we…
Humans interpret scenes by recognizing both the identities and positions of objects in their observations. For a robot to perform tasks such as \enquote{pick and place}, understanding both what the objects are and where they are located is…
If a robot is supposed to roam an environment and interact with objects, it is often necessary to know all possible objects in advance, so that a database with models of all objects can be generated for visual identification. However, this…
This paper presents CoLLIE: a simple, yet effective model for continual learning of how language is grounded in vision. Given a pre-trained multimodal embedding model, where language and images are projected in the same semantic space (in…
One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…
Generalist robots that can perform a range of different tasks in open-world settings must be able to not only reason about the steps needed to accomplish their goals, but also process complex instructions, prompts, and even feedback during…
Deep-learning and large scale language-image training have produced image object detectors that generalise well to diverse environments and semantic classes. However, single-image object detectors trained on internet data are not optimally…
As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
Detecting an ingestion environment is an important aspect of monitoring dietary intake. It provides insightful information for dietary assessment. However, it is a challenging problem where human-based reviewing can be tedious, and…
Food recommendation system has proven as an effective technology to provide guidance on dietary choices, and this is especially important for patients suffering from chronic diseases. Unlike other multimedia recommendations, such as books…