相关论文: Mapping the Unseen: Unified Promptable Panoptic Ma…

In embodied vision, Goal-Oriented Navigation (GON) requires robots to locate a specific goal within an unexplored environment. The primary challenge of GON arises from the need to construct a Bird's-Eye-View (BEV) map to understand the…

We propose a segmental neural language model that combines the generalization power of neural networks with the ability to discover word-like units that are latent in unsegmented character sequences. In contrast to previous segmentation…

Real-world documents may suffer various forms of degradation, often resulting in lower accuracy in optical character recognition (OCR) systems. Therefore, a crucial preprocessing step is essential to eliminate noise while preserving text…

Pre-trained Foundation Models (PFMs) have ushered in a paradigm-shift in Artificial Intelligence, due to their ability to learn general-purpose representations that can be readily employed in a wide range of downstream tasks. While PFMs…

Accurate 3D scene representation and panoptic understanding are essential for applications such as virtual reality, robotics, and autonomous driving. However, challenges persist with existing methods, including precise 2D-to-3D mapping,…

Spatial awareness is a critical capability for embodied agents, as it enables them to anticipate and reason about unobserved regions. The primary challenge arises from learning the distribution of indoor semantics, complicated by sparse,…

Recently, open-vocabulary learning has emerged to accomplish segmentation for arbitrary categories of text-based descriptions, which popularizes the segmentation system to more general-purpose application scenarios. However, existing…

This paper proposes Panoptic Narrative Grounding, a spatially fine and general formulation of the natural language visual grounding problem. We establish an experimental framework for the study of this new task, including new ground truth…

Recent vision-language pre-training models have exhibited remarkable generalization ability in zero-shot recognition tasks. Previous open-vocabulary 3D scene understanding methods mostly focus on training 3D models using either image or…

In this paper, we propose composable part-based manipulation (CPM), a novel approach that leverages object-part decomposition and part-part correspondences to improve learning and generalization of robotic manipulation skills. By…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

It's a meaningful and attractive topic to build a general and inclusive segmentation model that can recognize more categories in various scenarios. A straightforward way is to combine the existing fragmented segmentation datasets and train…

Long-horizon robotic tasks are hard due to continuous state-action spaces and sparse feedback. Symbolic world models help by decomposing tasks into discrete predicates that capture object properties and relations. Existing methods learn…

Multi-robot mapping with neural implicit representations enables the compact reconstruction of complex environments. However, it demands robustness against communication challenges like packet loss and limited bandwidth. While prior works…

Autonomous exploration requires robots to generate informative trajectories iteratively. Although sampling-based methods are highly efficient in unmanned aerial vehicle exploration, many of these methods do not effectively utilize the…

Inadequate generality across different organs and tasks constrains the application of ultrasound (US) image analysis methods in smart healthcare. Building a universal US foundation model holds the potential to address these issues.…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

The increased availability of interactive maps on the Internet and on personal mobile devices has created new challenges in computational cartography and, in particular, for label placement in maps. Operations like rotation, zoom, and…

Representation learning is the foundation of natural language processing (NLP). This work presents new methods to employ visual information as assistant signals to general NLP tasks. For each sentence, we first retrieve a flexible number of…

Active perception enables robots to dynamically gather information by adjusting their viewpoints, a crucial capability for interacting with complex, partially observable environments. In this paper, we present AP-VLM, a novel framework that…