相关论文: LOC-ZSON: Language-driven Object-Centric Zero-Shot…

The Zero-Shot Object Navigation (ZSON) task requires embodied agents to find a previously unseen object by navigating in unfamiliar environments. Such a goal-oriented exploration heavily relies on the ability to perceive, understand, and…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

Vision-and-Language Navigation (VLN) tasks require an agent to follow textual instructions to navigate through 3D environments. Traditional approaches use supervised learning methods, relying heavily on domain-specific datasets to train VLN…

Object navigation in open-world environments remains a formidable and pervasive challenge for robotic systems, particularly when it comes to executing long-horizon tasks that require both open-world object detection and high-level task…

Tactile perception is vital, especially when distinguishing visually similar objects. We propose an approach to incorporate tactile data into a Vision-Language Model (VLM) for visuo-tactile zero-shot object recognition. Our approach…

Zero-shot learning (ZSL) which aims to recognize unseen object classes by only training on seen object classes, has increasingly been of great interest in Machine Learning, and has registered with some successes. Most existing ZSL methods…

Language-based object detection (LOD) aims to align visual objects with language expressions. A large amount of paired data is utilized to improve LOD model generalizations. During the training process, recent studies leverage…

Zero-shot object navigation (ZSON) in unseen environments remains a challenging problem for household robots, requiring strong perceptual understanding and decision-making capabilities. While recent methods leverage metric maps and Large…

The capability to efficiently search for objects in complex environments is fundamental for many real-world robot applications. Recent advances in open-vocabulary vision models have resulted in semantically-informed object navigation…

Large-scale vision-language models (VLMs), such as CLIP, have achieved remarkable success in zero-shot learning (ZSL) by leveraging large-scale visual-text pair datasets. However, these methods often lack interpretability, as they compute…

Zero-shot learning (ZSL) aims to recognize novel classes by transferring semantic knowledge from seen classes to unseen classes. Since semantic knowledge is built on attributes shared between different classes, which are highly local,…

Object navigation is a core capability of embodied intelligence, enabling an agent to locate target objects in unknown environments. Recent advances in vision-language models (VLMs) have facilitated zero-shot object navigation (ZSON).…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

We present Language-mediated, Object-centric Representation Learning (LORL), a paradigm for learning disentangled, object-centric scene representations from vision and language. LORL builds upon recent advances in unsupervised object…

Although vision-language navigation (VLN) has progressed rapidly, zero-shot VLN in continuous environments (VLN-CE) remains highly challenging when using lightweight vision-language models (VLMs), whose limited reasoning capacity makes…

We study the task of zero-shot vision-and-language navigation (ZS-VLN), a practical yet challenging problem in which an agent learns to navigate following a path described by language instructions without requiring any path-instruction…

Large Vision-Language Models (LVLMs) have demonstrated impressive performance on vision-language reasoning tasks. However, their potential for zero-shot fine-grained image classification, a challenging task requiring precise differentiation…

Object-goal navigation requires mobile robots to efficiently locate targets with visual and spatial information, yet existing methods struggle with generalization in unseen environments. Heuristic approaches with naive metrics fail in…

This paper presents a detailed study of improving visual representations for vision language (VL) tasks and develops an improved object detection model to provide object-centric representations of images. Compared to the most widely used…

Generalized Zero-Shot Learning (GZSL) and Open-Set Recognition (OSR) are two mainstream settings that greatly extend conventional visual object recognition. However, the limitations of their problem settings are not negligible. The novel…