相关论文: You Only Speak Once to See

Audio grounding, or speech-driven open-set object detection, aims to localize and identify objects directly from speech, enabling generalization beyond predefined categories. This task is crucial for applications like human-robot…

Understanding human instructions is essential for enabling smooth human-robot interaction. In this work, we focus on object grounding, i.e., localizing an object of interest in a visual scene (e.g., an image) based on verbal human…

We present a unified model capable of simultaneously grounding both spoken language and non-speech sounds within a visual scene, addressing key limitations in current audio-visual grounding models. Existing approaches are typically limited…

There are rich synchronized audio and visual events in our daily life. Inside the events, audio scenes are associated with the corresponding visual objects; meanwhile, sounding objects can indicate and help to separate their individual…

Referring expressions are commonly used when referring to a specific target in people's daily dialogue. In this paper, we develop a novel task of audio-visual grounding referring expression for robotic manipulation. The robot leverages both…

For visually impaired people, it is highly difficult to make independent movement and safely move in both indoors and outdoors environment. Furthermore, these physically and visually challenges prevent them from in day-today live…

We introduce SeeingSounds, a lightweight and modular framework for audio-to-image generation that leverages the interplay between audio, language, and vision-without requiring any paired audio-visual data or training on visual generative…

The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…

In this paper, we propose to apply object detection methods from the vision domain on the speech recognition domain, by treating audio fragments as objects. More specifically, we present SpeechYOLO, which is inspired by the YOLO algorithm…

In this paper our objectives are, first, networks that can embed audio and visual inputs into a common space that is suitable for cross-modal retrieval; and second, a network that can localize the object that sounds in an image, given the…

Audio segmentation and sound event detection are crucial topics in machine listening that aim to detect acoustic classes and their respective boundaries. It is useful for audio-content analysis, speech recognition, audio-indexing, and music…

Visual Grounding (VG) aims to locate the most relevant region in an image, based on a flexible natural language query but not a pre-defined label, thus it can be a more useful technique than object detection in practice. Most…

Audiovisual scenes are pervasive in our daily life. It is commonplace for humans to discriminatively localize different sounding objects but quite challenging for machines to achieve class-aware sounding objects localization without…

Humans can robustly recognize and localize objects by integrating visual and auditory cues. While machines are able to do the same now with images, less work has been done with sounds. This work develops an approach for dense semantic…

Visual dialog is challenging since it needs to answer a series of coherent questions based on understanding the visual environment. How to ground related visual objects is one of the key problems. Previous studies utilize the question and…

Visually grounded speech models link speech to images. We extend this connection by linking images to text via an existing image captioning system, and as a result gain the ability to map speech audio directly to text. This approach can be…

As robots become more ubiquitous and capable, it becomes ever more important to enable untrained users to easily interact with them. Recently, this has led to study of the language grounding problem, where the goal is to extract…

3D Visual Grounding (3DVG) involves localizing target objects in 3D point clouds based on natural language. While prior work has made strides using textual descriptions, leveraging spoken language-known as Audio-based 3D Visual…