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

While automated audio captioning (AAC) has made notable progress, traditional fully supervised AAC models still face two critical challenges: the need for expensive audio-text pair data for training and performance degradation when…

Task planning systems have been developed to help robots use human knowledge (about actions) to complete long-horizon tasks. Most of them have been developed for "closed worlds" while assuming the robot is provided with complete world…

Large pretrained Transformer language models have been shown to exhibit zero-shot generalization, i.e. they can perform a wide variety of tasks that they were not explicitly trained on. However, the architectures and pretraining objectives…

Vision-Language Models for remote sensing have shown promising uses thanks to their extensive pretraining. However, their conventional usage in zero-shot scene classification methods still involves dividing large images into patches and…

We observe that pre-trained large language models (LLMs) are capable of autoregressively completing complex token sequences -- from arbitrary ones procedurally generated by probabilistic context-free grammars (PCFG), to more rich spatial…

Language is compositional; an instruction can express multiple relation constraints to hold among objects in a scene that a robot is tasked to rearrange. Our focus in this work is an instructable scene-rearranging framework that generalizes…

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes…

Automating activities through robots in unstructured environments, such as construction sites, has been a long-standing desire. However, the high degree of unpredictable events in these settings has resulted in far less adoption compared to…

Surface sensing is widely employed in health diagnostics, manufacturing and safety monitoring. Advances in mobile sensing affords this potential for context awareness in mobile computing, typically with a single sensing modality. Emerging…

Interpreting object-referential language and grounding objects in 3D with spatial relations and attributes is essential for robots operating alongside humans. However, this task is often challenging due to the diversity of scenes, large…

Recent work in cross-lingual semantic parsing has successfully applied machine translation to localize parsers to new languages. However, these advances assume access to high-quality machine translation systems and word alignment tools. We…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

Simulation provides a safe and efficient way to generate useful data for learning complex robotic tasks. However, matching simulation and real-world dynamics can be quite challenging, especially for systems that have a large number of…

Large language models inevitably retain sensitive information, defined as inputs that may induce harmful generations, due to training on massive web corpora, raising concerns for privacy and safety. Existing machine unlearning methods…

Comprehending a dialogue requires a model to capture diverse kinds of key information in the utterances, which are either scattered around or implicitly implied in different turns of conversations. Therefore, dialogue comprehension requires…

Large language models have given social robots the ability to autonomously engage in open-domain conversations. However, they are still missing a fundamental social skill: making use of the multiple modalities that carry social…

This paper investigates the problem of zero-shot action recognition, in the setting where no training videos with seen actions are available. For this challenging scenario, the current leading approach is to transfer knowledge from the…

Tendon-driven robots, a type of continuum robot, have the potential to reduce the invasiveness of surgery by enabling access to difficult-to-reach anatomical targets. In the future, the automation of surgical tasks for these robots may help…

The lack of annotated data in many languages is a well-known challenge within the field of multilingual natural language processing (NLP). Therefore, many recent studies focus on zero-shot transfer learning and joint training across…

Large language models (LLMs) exhibit outstanding performance in machine translation via in-context learning. In contrast to sentence-level translation, document-level translation (DOCMT) by LLMs based on in-context learning faces two major…