相关论文: Nearest Neighbor Future Captioning: Generating Des…

We introduce $k$NN-LMs, which extend a pre-trained neural language model (LM) by linearly interpolating it with a $k$-nearest neighbors ($k$NN) model. The nearest neighbors are computed according to distance in the pre-trained LM embedding…

Deep neural models achieve some of the best results for semantic role labeling. Inspired by instance-based learning that utilizes nearest neighbors to handle low-frequency context-specific training samples, we investigate the use of memory…

Humans can look at a static scene and instantly predict what happens next -- will moving this object cause a collision? We call this ability Causal Spatial Reasoning. However, current multimodal large language models (MLLMs) cannot do this,…

Large language models (LLMs) are increasingly used in emergency first response (EFR) applications to support situational awareness (SA) and decision-making, yet most operate on text or 2D imagery and offer little support for core EFR SA…

We propose a low cost and effective way to combine a free simulation software and free CAD models for modeling human-object interaction in order to improve human & object segmentation. It is intended for research scenarios related to safe…

3D dense captioning, as an emerging vision-language task, aims to identify and locate each object from a set of point clouds and generate a distinctive natural language sentence for describing each located object. However, the existing…

From the perspective of future developments in robotics, it is crucial to verify whether foundation models trained exclusively on offline data, such as images and language, can understand the robot motion. In particular, since Vision…

A robot operating in a household environment will see a wide range of unique and unfamiliar objects. While a system could train on many of these, it is infeasible to predict all the objects a robot will see. In this paper, we present a…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…

We introduce a unified framework to jointly model images, text, and human attention traces. Our work is built on top of the recent Localized Narratives annotation framework [30], where each word of a given caption is paired with a mouse…

We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…

Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

When data is of an extraordinarily large size or physically stored in different locations, the distributed nearest neighbor (NN) classifier is an attractive tool for classification. We propose a novel distributed adaptive NN classifier for…

Spatial relations are a basic part of human cognition. However, they are expressed in natural language in a variety of ways, and previous work has suggested that current vision-and-language models (VLMs) struggle to capture relational…

We present a model that generates natural language descriptions of images and their regions. Our approach leverages datasets of images and their sentence descriptions to learn about the inter-modal correspondences between language and…

While image captioning through machines requires structured learning and basis for interpretation, improvement requires multiple context understanding and processing in a meaningful way. This research will provide a novel concept for…

Semantic sparsity is a common challenge in structured visual classification problems; when the output space is complex, the vast majority of the possible predictions are rarely, if ever, seen in the training set. This paper studies semantic…

Image caption generation is one of the most challenging problems at the intersection of vision and language domains. In this work, we propose a realistic captioning task where the input scenes may incorporate visual objects with no…