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

Affordance learning considers the interaction opportunities for an actor in the scene and thus has wide application in scene understanding and intelligent robotics. In this paper, we focus on contextual affordance learning, i.e., using…

Grounding open-ended semantic instructions into physically executable local goals is a fundamental challenge in human-robot interaction. While existing navigation frameworks often regress deterministic waypoints, this rigid formulation…

Scaling up robot learning is hindered by the scarcity of robotic demonstrations, whereas human videos offer a vast, untapped source of interaction data. However, bridging the embodiment gap between human hands and robot arms remains a…

We propose Scene Graph Auto-Encoder (SGAE) that incorporates the language inductive bias into the encoder-decoder image captioning framework for more human-like captions. Intuitively, we humans use the inductive bias to compose collocations…

Constructing accurate model-agnostic explanations for opaque machine learning models remains a challenging task. Classification models for high-dimensional data, like images, are often inherently complex. To reduce this complexity,…

A command-following robot that serves people in everyday life must continually improve itself in deployment domains with minimal help from its end users, instead of engineers. Previous methods are either difficult to continuously improve…

Although self-supervised learning enables us to bootstrap the training by exploiting unlabeled data, the generic self-supervised methods for natural images do not sufficiently incorporate the context. For medical images, a desirable method…

Effective human-robot collaboration in surgery is affected by the inherent ambiguity of verbal communication. This paper presents a framework for a robotic surgical assistant that interprets and disambiguates verbal instructions from a…

Humans excel at acquiring knowledge through observation. For example, we can learn to use new tools by watching demonstrations. This skill is fundamental for intelligent systems to interact with the world. A key step to acquire this skill…

Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sample efficiency and limited generalisation. Existing methods…

This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen classes of objects in household settings. Inspired by human…

Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…

Image captioning models generally lack the capability to take into account user interest, and usually default to global descriptions that try to balance readability, informativeness, and information overload. On the other hand, VQA models…

Although end-to-end (E2E) learning has led to impressive progress on a variety of visual understanding tasks, it is often impeded by hardware constraints (e.g., GPU memory) and is prone to overfitting. When it comes to video captioning, one…

Decision making via sequence modeling aims to mimic the success of language models, where actions taken by an embodied agent are modeled as tokens to predict. Despite their promising performance, it remains unclear if embodied sequence…

Depth estimation is a critical topic for robotics and vision-related tasks. In monocular depth estimation, in comparison with supervised learning that requires expensive ground truth labeling, self-supervised methods possess great potential…

Understanding fine-grained object affordances is imperative for robots to manipulate objects in unstructured environments given open-ended task instructions. However, existing methods of visual affordance predictions often rely on manually…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

Robots are increasingly entering human-interactive scenarios that require understanding of quantity. How intelligent systems acquire abstract numerical concepts from sensorimotor experience remains a fundamental challenge in cognitive…

The use of attention models for automated image captioning has enabled many systems to produce accurate and meaningful descriptions for images. Over the years, many novel approaches have been proposed to enhance the attention process using…