相关论文: DM2RM: Dual-Mode Multimodal Ranking for Target Obj…

Open-vocabulary mobile manipulation (OVMM) that involves the handling of novel and unseen objects across different workspaces remains a significant challenge for real-world robotic applications. In this paper, we propose a novel…

One fundamental task of multimodal models is to translate referred image regions to human preferred language descriptions. Existing methods, however, ignore the resolution adaptability needs of different tasks, which hinders them to find…

Current end-to-end deep Reinforcement Learning (RL) approaches require jointly learning perception, decision-making and low-level control from very sparse reward signals and high-dimensional inputs, with little capability of incorporating…

Visual Dialog is a vision-language task that requires an AI agent to engage in a conversation with humans grounded in an image. It remains a challenging task since it requires the agent to fully understand a given question before making an…

In daily domestic settings, frequently used objects like cups often have unfixed positions and multiple instances within the same category, and their carriers frequently change as well. As a result, it becomes challenging for a robot to…

For robots to understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that comprehend referential language to identify common objects in real-world 3D scenes. In this paper,…

Referring understanding is a fundamental task that bridges natural language and visual content by localizing objects described in free-form expressions. However, existing works are constrained by limited language expressiveness, lacking the…

In recent years, the demand for service robots capable of executing tasks beyond autonomous navigation has grown. In the future, service robots will be expected to perform complex tasks like 'Set table for dinner'. High-level tasks like…

Desktop cleaning demands open-vocabulary recognition and precise manipulation for heterogeneous debris. We propose a hierarchical framework integrating reflective Vision-Language Model (VLM) planning with dual-arm execution via structured…

For both driving safety and efficiency, automated vehicles should be able to predict the behavior of surrounding traffic participants in a complex dynamic environment. To accomplish such a task, trajectory prediction is the key. Although…

Large Language Models (LLMs) have demonstrated exceptional proficiency in text understanding and embedding tasks. However, their potential in multimodal representation, particularly for item-to-item (I2I) recommendations, remains…

Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…

Learning to Rank has traditionally considered settings where given the relevance information of objects, the desired order in which to rank the objects is clear. However, with today's large variety of users and layouts this is not always…

Open-Vocabulary Mobile Manipulation (OVMM) is a crucial capability for autonomous robots, especially when faced with the challenges posed by unknown and dynamic environments. This task requires robots to explore and build a semantic…

We introduce Talk2Move, a reinforcement learning (RL) based diffusion framework for text-instructed spatial transformation of objects within scenes. Spatially manipulating objects in a scene through natural language poses a challenge for…

Building models responsive to input prompts represents a transformative shift in machine learning. This paradigm holds significant potential for robotics problems, such as targeted manipulation amidst clutter. In this work, we present a…

Incorporating domain-specific priors in search and navigation tasks has shown promising results in improving generalization and sample complexity over end-to-end trained policies. In this work, we study how object embeddings that capture…

Sequential Recommender Systems (SRS) aim to predict users' next interaction based on their historical behaviors, while still facing the challenge of data sparsity. With the rapid advancement of Multimodal Large Language Models (MLLMs),…

Currently, domestic service robots have an insufficient ability to interact naturally through language. This is because understanding human instructions is complicated by various ambiguities and missing information. In existing methods, the…

Interactions with virtual assistants typically start with a trigger phrase followed by a command. In this work, we explore the possibility of making these interactions more natural by eliminating the need for a trigger phrase. Our goal is…