相关论文: Robotic State Recognition with Image-to-Text Retri…
In order for robots to autonomously navigate and operate in diverse environments, it is essential for them to recognize the state of their environment. On the other hand, the environmental state recognition has traditionally involved…
Recognition of the current state is indispensable for the operation of a robot. There are various states to be recognized, such as whether an elevator door is open or closed, whether an object has been grasped correctly, and whether the TV…
The state recognition of the environment and objects by robots is generally based on the judgement of the current state as a classification problem. On the other hand, state changes of food in cooking happen continuously and need to be…
State recognition of objects and environment in robots has been conducted in various ways. In most cases, this is executed by processing point clouds, learning images with annotations, and using specialized sensors. In contrast, in this…
In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as answering questions about images, retrieving sentences that…
To ensure proper knowledge representation of the kitchen environment, it is vital for kitchen robots to recognize the states of the food items that are being cooked. Although the domain of object detection and recognition has been…
One significant simplification in most previous work on robot learning is the closed-world assumption where the robot is assumed to know ahead of time a complete set of predicates describing the state of the physical world. However, robots…
Accurate vision-based action recognition is crucial for developing autonomous robots that can operate safely and reliably in complex, real-world environments. In this work, we advance video-based recognition of indoor daily actions for…
Cooking tasks are characterized by large changes in the state of the food, which is one of the major challenges in robot execution of cooking tasks. In particular, cooking using a stove to apply heat to the foodstuff causes many special…
The state of an object is an important piece of knowledge in robotics applications. States and objects are intertwined together, meaning that object information can help recognize the state of an image and vice versa. This paper addresses…
Door-status detection, namely recognizing the presence of a door and its status (open or closed), can induce a remarkable impact on a mobile robot's navigation performance, especially for dynamic settings where doors can enable or disable…
A kitchen robot properly needs to understand the cooking environment to continue any cooking activities. But object's state detection has not been researched well so far as like object detection. In this paper, we propose a deep learning…
Recently, vision-language joint representation learning has proven to be highly effective in various scenarios. In this paper, we specifically adapt vision-language joint learning for scene text detection, a task that intrinsically involves…
Current text-to-image generative models struggle to accurately represent object states (e.g., "a table without a bottle," "an empty tumbler"). In this work, we first design a fully-automatic pipeline to generate high-quality synthetic data…
Cooking is a task that must be performed in a daily basis, and thus it is an activity that many people take for granted. For humans preparing a meal comes naturally, but for robots even preparing a simple sandwich results in an extremely…
Estimating robot pose from RGB images is a crucial problem in computer vision and robotics. While previous methods have achieved promising performance, most of them presume full knowledge of robot internal states, e.g. ground-truth robot…
Multi-modal models have shown appealing performance in visual recognition tasks, as free-form text-guided training evokes the ability to understand fine-grained visual content. However, current models cannot be trivially applied to scene…
The utility of collocating robots largely depends on the easy and intuitive interaction mechanism with the human. If a robot accepts task instruction in natural language, first, it has to understand the user's intention by decoding the…
Recently, Robotic Cooking has been a very promising field. To execute a recipe, a robot has to recognize different objects and their states. Contrary to object recognition, state identification has not been explored that much. But it is…
Understanding object states is as important as object recognition for robotic task planning and manipulation. To our knowledge, this paper explicitly introduces and addresses the state identification problem in cooking related images for…