相关论文: Exploring the Reliability of Foundation Model-Base…

Foundation models have attracted widespread attention across domains due to their powerful zero-shot classification capabilities. This work is motivated by two key observations: (1) \textit{Vision-Language Models} (VLMs), such as CLIP,…

A phrase grounding system localizes a particular object in an image referred to by a natural language query. In previous work, the phrases were restricted to have nouns that were encountered in training, we extend the task to Zero-Shot…

Zero-Shot Object Navigation (ZSON) requires agents to autonomously locate and approach unseen objects in unfamiliar environments and has emerged as a particularly challenging task within the domain of Embodied AI. Existing datasets for…

Exploration of unknown environments is crucial for autonomous robots; it allows them to actively reason and decide on what new data to acquire for different tasks, such as mapping, object discovery, and environmental assessment. Existing…

Zero-shot learning (ZSL) aims to recognize novel classes by transferring semantic knowledge from seen classes to unseen classes. Since semantic knowledge is built on attributes shared between different classes, which are highly local,…

How can we build robots for open-world semantic navigation tasks, like searching for target objects in novel scenes? While foundation models have the rich knowledge and generalisation needed for these tasks, a suitable scene representation…

Zero-shot object detection aims to localize and recognize objects of unseen classes. Most of existing works face two problems: the low recall of RPN in unseen classes and the confusion of unseen classes with background. In this paper, we…

While spatial reasoning has made progress in object localization relationships, it often overlooks object orientation-a key factor in 6-DoF fine-grained manipulation. Traditional pose representations rely on pre-defined frames or templates,…

Zero-shot object navigation (ZSON) in unseen environments remains a challenging problem for household robots, requiring strong perceptual understanding and decision-making capabilities. While recent methods leverage metric maps and Large…

For robots to be generally useful, they must be able to find arbitrary objects described by people (i.e., be language-driven) even without expensive navigation training on in-domain data (i.e., perform zero-shot inference). We explore these…

Grasping unknown objects in unstructured environments is a critical challenge for service robots, which must operate in dynamic, real-world settings such as homes, hospitals, and warehouses. Success in these environments requires both…

Point goal navigation (PGN) is a mapless navigation approach that trains robots to visually navigate to goal points without relying on pre-built maps. Despite significant progress in handling complex environments using deep reinforcement…

UAV vision-language navigation (VLN) requires an agent to navigate complex 3D environments from an egocentric perspective while following ambiguous multi-step instructions over long horizons. Existing zero-shot methods remain limited, as…

Edge Federation is a new computing paradigm that seamlessly interconnects the resources of multiple edge service providers. A key challenge in such systems is the deployment of latency-critical and AI based resource-intensive applications…

Object search is a fundamental task for robots deployed in indoor building environments, yet challenges arise due to observation instability, especially for open-vocabulary models. While foundation models (LLMs/VLMs) enable reasoning about…

Zero-shot object navigation (ZSON) addresses situation where an agent navigates to an unseen object that does not present in the training set. Previous works mainly train agent using seen objects with known labels, and ignore the seen…

The advancement of robotics and autonomous navigation systems hinges on the ability to accurately predict terrain traversability. Traditional methods for generating datasets to train these prediction models often involve putting robots into…

Single-source domain generalization (SDG) for object detection is a challenging yet essential task as the distribution bias of the unseen domain degrades the algorithm performance significantly. However, existing methods attempt to extract…

Detecting out-of-distribution (OOD) inputs is pivotal for deploying safe vision systems in open-world environments. We revisit diffusion models, not as generators, but as universal perceptual templates for OOD detection. This research…

Large scale scenes such as multifloor homes can be robustly and efficiently mapped with a 3D graph of landmarks estimated jointly with robot poses in a factor graph, a technique commonly used in commercial robots such as drones and robot…