相关论文: Spatially-Aware Speaker for Vision-and-Language Na…

Spoken language understanding (SLU) system usually consists of various pipeline components, where each component heavily relies on the results of its upstream ones. For example, Intent detection (ID), and slot filling (SF) require its…

Accomplishing household tasks requires to plan step-by-step actions considering the consequences of previous actions. However, the state-of-the-art embodied agents often make mistakes in navigating the environment and interacting with…

We address a practical yet challenging problem of training robot agents to navigate in an environment following a path described by some language instructions. The instructions often contain descriptions of objects in the environment. To…

Generalisation to unseen contexts remains a challenge for embodied navigation agents. In the context of semantic audio-visual navigation (SAVi) tasks, the notion of generalisation should include both generalising to unseen indoor visual…

Equipping embodied agents with commonsense is important for robots to successfully complete complex human instructions in general environments. Recent large language models (LLM) can embed rich semantic knowledge for agents in plan…

Recently there has been a rising interest in training agents, embodied in virtual environments, to perform language-directed tasks by deep reinforcement learning. In this paper, we propose a simple but effective neural language grounding…

Whereas machine learning models typically learn language by directly training on language tasks (e.g., next-word prediction), language emerges in human children as a byproduct of solving non-language tasks (e.g., acquiring food). Motivated…

Broadly intelligent agents should form task-specific abstractions that selectively expose the essential elements of a task, while abstracting away the complexity of the raw sensorimotor space. In this work, we present Neuro-Symbolic…

Promptable foundation models such as the Segment Anything Model (SAM) produce high-quality masks but remain semantically blind, relying on external prompts to specify categories. Existing vision-language approaches address this limitation…

We propose a novel approach for training large language models (LLMs) to adhere to objectives defined within a latent embedding space. Our method leverages reinforcement learning (RL), treating a pre-trained LLM as an environment. Our…

Natural language is perhaps the most flexible and intuitive way for humans to communicate tasks to a robot. Prior work in imitation learning typically requires each task be specified with a task id or goal image -- something that is often…

Pre-trained and frozen large language models (LLMs) can effectively map simple scene rearrangement instructions to programs over a robot's visuomotor functions through appropriate few-shot example prompting. To parse open-domain natural…

Grounding language to a navigating agent's observations can leverage pretrained multimodal foundation models to match perceptions to object or event descriptions. However, previous approaches remain disconnected from environment mapping,…

Audiovisual active speaker detection (ASD) addresses the task of determining the speech activity of a candidate speaker given acoustic and visual data. Typically, systems model the temporal correspondence of audiovisual cues, such as the…

Large Language Models (LLMs) trained using massive text datasets have recently shown promise in generating action plans for robotic agents from high level text queries. However, these models typically do not consider the robot's…

In social robotics, a pivotal focus is enabling robots to engage with humans in a more natural and seamless manner. The emergence of advanced large language models (LLMs) such as Generative Pre-trained Transformers (GPTs) and autoregressive…

Referring to objects in a natural and unambiguous manner is crucial for effective human-robot interaction. Previous research on learning-based referring expressions has focused primarily on comprehension tasks, while generating referring…

Segment Anything Models (SAMs) like SEEM and SAM have demonstrated great potential in learning to segment anything. The core design of SAMs lies with Promptable Segmentation, which takes a handcrafted prompt as input and returns the…

Assistive robotics is an important subarea of robotics that focuses on the well-being of people with disabilities. A robotic guide dog is an assistive quadruped robot that helps visually impaired people in obstacle avoidance and navigation.…

This paper explores the instruction fine-tuning technique for speech-to-semantic tasks by introducing a unified end-to-end (E2E) framework that generates target text conditioned on a task-related prompt for audio data. We pre-train the…