相关论文: Self-Explainable Affordance Learning with Embodied…

In this work, we focus on the task of weakly supervised affordance grounding, where a model is trained to identify affordance regions on objects using human-object interaction images and egocentric object images without dense labels.…

Affordance knowledge is a fundamental aspect of commonsense knowledge. Recent findings indicate that world knowledge emerges through large-scale self-supervised pretraining, motivating our exploration of acquiring affordance knowledge from…

Embodied AI models often employ off the shelf vision backbones like CLIP to encode their visual observations. Although such general purpose representations encode rich syntactic and semantic information about the scene, much of this…

To be capable of lifelong learning in a real-life environment, robots have to tackle multiple challenges. Being able to relate physical properties they may observe in their environment to possible interactions they may have is one of them.…

Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…

Image captioning is a challenging problem owing to the complexity in understanding the image content and diverse ways of describing it in natural language. Recent advances in deep neural networks have substantially improved the performance…

Human affordance learning investigates contextually relevant novel pose prediction such that the estimated pose represents a valid human action within the scene. While the task is fundamental to machine perception and automated interactive…

We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…

Embodied navigation is a fundamental capability of embodied intelligence, enabling robots to move and interact within physical environments. However, existing navigation tasks primarily focus on predefined object navigation or instruction…

In this paper, we propose SEA, a novel approach for active robot exploration through semantic map prediction and a reinforcement learning-based hierarchical exploration policy. Unlike existing learning-based methods that rely on one-step…

Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models are often dominated by global object appearance and struggle…

Robustness has become one of the most critical problems in machine learning (ML). The science of interpreting ML models to understand their behavior and improve their robustness is referred to as explainable artificial intelligence (XAI).…

This paper discusses and demonstrates the outcomes from our experimentation on Image Captioning. Image captioning is a much more involved task than image recognition or classification, because of the additional challenge of recognizing the…

Automated captioning of photos is a mission that incorporates the difficulties of photo analysis and text generation. One essential feature of captioning is the concept of attention: how to determine what to specify and in which sequence.…

Existing dense or paragraph video captioning approaches rely on holistic representations of videos, possibly coupled with learned object/action representations, to condition hierarchical language decoders. However, they fundamentally lack…

Active event perception, the ability to dynamically detect, track, and summarize events in real time, is essential for embodied intelligence in tasks such as human-AI collaboration, assistive robotics, and autonomous navigation. However,…

Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly…

Affordance grounding aims to localize the interaction regions for the manipulated objects in the scene image according to given instructions. A critical challenge in affordance grounding is that the embodied agent should understand human…

The term "affordance" denotes the behavioral meaning of objects. We propose a cognitive architecture for the detection of affordances in the visual modality. This model is based on the internal simulation of movement sequences. For each…

3D affordance reasoning, the task of associating human instructions with the functional regions of 3D objects, is a critical capability for embodied agents. Current methods based on 3D Gaussian Splatting (3DGS) are fundamentally limited to…