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

Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…

Developing autonomous home robots controlled by natural language has long been a pursuit of humanity. While advancements in large language models (LLMs) and embodied intelligence make this goal closer, several challenges persist: the lack…

Language-instructed active object localization is a critical challenge for robots, requiring efficient exploration of partially observable environments. However, state-of-the-art approaches either struggle to generalize beyond demonstration…

With the advent of large language models and large-scale robotic datasets, there has been tremendous progress in high-level decision-making for object manipulation. These generic models are able to interpret complex tasks using language…

Deep Metric Learning (DML) proposes to learn metric spaces which encode semantic similarities as embedding space distances. These spaces should be transferable to classes beyond those seen during training. Commonly, DML methods task…

Multimodal large language models (MLLMs) have shown satisfactory effects in many autonomous driving tasks. In this paper, MLLMs are utilized to solve joint semantic scene understanding and risk localization tasks, while only relying on…

We present our work on the multimodal coreference resolution task of the Situated and Interactive Multimodal Conversation 2.0 (SIMMC 2.0) dataset as a part of the tenth Dialog System Technology Challenge (DSTC10). We propose a UNITER-based…

When transferring a Deep Reinforcement Learning model from simulation to the real world, the performance could be unsatisfactory since the simulation cannot imitate the real world well in many circumstances. This results in a long period of…

Vision-language models (VLM) excel at general understanding yet remain weak at dynamic spatial reasoning (DSR), i.e., reasoning about the evolvement of object geometry and relationship in 3D space over time, largely due to the scarcity of…

Large Language Models (LLMs) can help robots reason about abstract task specifications. This requires augmenting classical representations of the environment used by robots, such as point-clouds and meshes, with natural language-based…

Recent work has described neural-network-based agents that are trained with reinforcement learning (RL) to execute language-like commands in simulated worlds, as a step towards an intelligent agent or robot that can be instructed by human…

Language-Guided object recognition in remote sensing imagery is crucial for large-scale mapping and automated data annotation. However, existing open-vocabulary and visual grounding methods rely on explicit category cues, limiting their…

Multimodal models excel in English, supported by abundant image-text and audio-text data, but performance drops sharply for other languages due to limited multilingual multimodal resources. Existing solutions rely on machine translation,…

As a significant application of multi-source information fusion in intelligent transportation perception systems, Referring Multi-Object Tracking (RMOT) involves localizing and tracking specific objects in video sequences based on language…

The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…

To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…

Visual Place Recognition (VPR) is crucial for robust mobile robot localization, yet it faces significant challenges in maintaining reliable performance under varying environmental conditions and viewpoints. To address this, we propose a…

A critical bottleneck in deep reinforcement learning (DRL) is sample inefficiency, as training high-performance agents often demands extensive environmental interactions. Model-based reinforcement learning (MBRL) mitigates this by building…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…