相关论文: Zero-shot Object-Centric Instruction Following: In…

Landmarks are central to how people navigate, but most navigation technologies do not incorporate them into their representations. We propose the landmark graph generation task (creating landmark-based spatial representations from natural…

Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To…

This paper investigates a hybrid solution which combines deep reinforcement learning (RL) and classical trajectory planning for the following in front application. Here, an autonomous robot aims to stay ahead of a person as the person…

Zero-shot stance detection (ZSSD) seeks to determine the stance of text toward previously unseen targets, a task critical for analyzing dynamic and polarized online discourse with limited labeled data. While large language models (LLMs)…

Real-world robots localize objects from natural-language instructions while scenes around them keep changing. Yet most of the existing 3D visual grounding (3DVG) method still assumes a reconstructed and up-to-date point cloud, an assumption…

We introduce OV-MAP, a novel approach to open-world 3D mapping for mobile robots by integrating open-features into 3D maps to enhance object recognition capabilities. A significant challenge arises when overlapping features from adjacent…

Fine-Grained Visual Categorization (FGVC) has achieved significant progress recently. However, the number of fine-grained species could be huge and dynamically increasing in real scenarios, making it difficult to recognize unseen objects…

Deployable service and delivery robots struggle to navigate multi-floor buildings to reach object goals, as existing systems fail due to single-floor assumptions and requirements for offline, globally consistent maps. Multi-floor…

Zero-shot learning is a learning regime that recognizes unseen classes by generalizing the visual-semantic relationship learned from the seen classes. To obtain an effective ZSL model, one may resort to curating training samples from…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

State-of-the-art 3D point cloud registration methods rely on labeled 3D datasets for training, which limits their practical applications in real-world scenarios and often hinders generalization to unseen scenes. Leveraging the zero-shot…

Object-goal navigation (ObjNav) tasks an agent with navigating to the location of a specific object in an unseen environment. Embodied agents equipped with large language models (LLMs) and online constructed navigation maps can perform…

Natural language-based robotic navigation remains a challenging problem due to the human knowledge of navigation constraints, and destination is not directly compatible with the robot knowledge base. In this paper, we aim to translate…

Object detection traditionally relies on fixed category sets, requiring costly re-training to handle novel objects. While Open-World and Open-Vocabulary Object Detection (OWOD and OVOD) improve flexibility, OWOD lacks semantic labels for…

CLIP has revolutionized zero-shot learning by enabling task generalization without fine-tuning. While prompting techniques like CoOp and CoCoOp enhance CLIP's adaptability, their effectiveness in Federated Learning (FL) remains an open…

To perform tasks specified by natural language instructions, autonomous agents need to extract semantically meaningful representations of language and map it to visual elements and actions in the environment. This problem is called…

In recent years, learning-based approaches have demonstrated significant promise in addressing intricate navigation tasks. Traditional methods for training deep neural network navigation policies rely on meticulously designed reward…

3D Visual Grounding (3DVG) aims at localizing 3D object based on textual descriptions. Conventional supervised methods for 3DVG often necessitate extensive annotations and a predefined vocabulary, which can be restrictive. To address this…

Advances in open-vocabulary semantic mapping and object navigation have enabled robots to perform an informed search of their environment for an arbitrary object. However, such zero-shot object navigation is typically designed for simple…

We present an Open-Vocabulary 3D Scene Graph (OVSG), a formal framework for grounding a variety of entities, such as object instances, agents, and regions, with free-form text-based queries. Unlike conventional semantic-based object…