相关论文: ZeroCAP: Zero-Shot Multi-Robot Context Aware Patte…

We pursue the goal of developing robots that can interact zero-shot with generic unseen objects via a diverse repertoire of manipulation skills and show how passive human videos can serve as a rich source of data for learning such…

Automation systems are increasingly being used in dynamic and various operating conditions. With higher flexibility demands, they need to promptly respond to surrounding dynamic changes by adapting their operation. Context information…

When assisting people in daily tasks, robots need to accurately interpret visual cues and respond effectively in diverse safety-critical situations, such as sharp objects on the floor. In this context, we present M-CoDAL, a…

Understanding manipulation scenarios allows intelligent robots to plan for appropriate actions to complete a manipulation task successfully. It is essential for intelligent robots to semantically interpret manipulation knowledge by…

Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…

This paper presents a novel approach to Zero-Shot Action Recognition. Recent works have explored the detection and classification of objects to obtain semantic information from videos with remarkable performance. Inspired by them, we…

The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and…

Dense video captioning, a task of localizing meaningful moments and generating relevant captions for videos, often requires a large, expensive corpus of annotated video segments paired with text. In an effort to minimize the annotation…

Bridging robot action sequences and their natural language captions is an important task to increase explainability of human assisting robots in their recently evolving field. In this paper, we propose a system for generating natural…

Using Reinforcement Learning (RL) to learn new robotic tasks from scratch is often inefficient. Leveraging prior knowledge has the potential to significantly enhance learning efficiency, which, however, raises two critical challenges: how…

Scene understanding is critical for various downstream tasks in autonomous driving, including facilitating driver-agent communication and enhancing human-centered explainability of autonomous vehicle (AV) decisions. This paper evaluates the…

Zero-shot learning aims to recognize instances of unseen classes, for which no visual instance is available during training, by learning multimodal relations between samples from seen classes and corresponding class semantic…

Large language models trained primarily in a monolingual setting have demonstrated their ability to generalize to machine translation using zero- and few-shot examples with in-context learning. However, even though zero-shot translations…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

This work introduces a model that can recognize objects in images even if no training data is available for the objects. The only necessary knowledge about the unseen categories comes from unsupervised large text corpora. In our zero-shot…

Imitation learning in robots, also called programing by demonstration, has made important advances in recent years, allowing humans to teach context dependant motor skills/tasks to robots. We propose to extend the usual contexts…

ConceptBot is a modular robotic planning framework that combines Large Language Models and Knowledge Graphs to generate feasible and risk-aware plans despite ambiguities in natural language instructions and correctly analyzing the objects…

Image caption generation is a long standing and challenging problem at the intersection of computer vision and natural language processing. A number of recently proposed approaches utilize a fully supervised object recognition model within…

Using a taxonomy to organize information requires classifying objects (documents, images, etc) with appropriate taxonomic classes. The flexible nature of zero-shot learning is appealing for this task because it allows classifiers to…

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…