相关论文: Seeing with Partial Certainty: Conformal Predictio…

Image-based environment perception is an important component especially for driver assistance systems or autonomous driving. In this scope, modern neuronal networks are used to identify multiple objects as well as the according position and…

The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…

Accurately predicting human behaviors is crucial for mobile robots operating in human-populated environments. While prior research primarily focuses on predicting actions in single-human scenarios from an egocentric view, several robotic…

Vision-language models (VLMs) have achieved remarkable advancements, capitalizing on the impressive capabilities of large language models (LLMs) across diverse tasks. Despite this, a critical challenge known as hallucination occurs when…

Generalizable robotic mobile manipulation in open-world environments poses significant challenges due to long horizons, complex goals, and partial observability. A promising approach to address these challenges involves planning with a…

This study addresses the critical challenge of hallucination mitigation in Large Vision-Language Models (LVLMs) for Visual Question Answering (VQA) tasks through a Split Conformal Prediction (SCP) framework. While LVLMs excel in multi-modal…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

Existing self-supervised learning (SSL) methods primarily learn object-invariant representations but often neglect the spatial structure and relationships among object parts. To address this limitation, we introduce Spatial Prediction (SP),…

Rapid advances in perception have enabled large pre-trained models to be used out of the box for transforming high-dimensional, noisy, and partial observations of the world into rich occupancy representations. However, the reliability of…

Large Vision Language Models (VLMs) have long struggled with spatial reasoning tasks. Surprisingly, even simple spatial reasoning tasks, such as recognizing "under" or "behind" relationships between only two objects, pose significant…

Visual Place Recognition (VPR) enables robots and autonomous vehicles to identify previously visited locations by matching current observations against a database of known places. However, VPR systems face significant challenges when…

Vision-Language Models (VLMs) demonstrate impressive capabilities across multimodal tasks, yet exhibit systematic spatial reasoning failures, achieving only 49% (CLIP) to 54% (BLIP-2) accuracy on basic directional relationships. For safe…

Although Model Predictive Control (MPC) can effectively predict the future states of a system and thus is widely used in robotic manipulation tasks, it does not have the capability of environmental perception, leading to the failure in some…

Visual Language Navigation (VLN) is a fundamental task within the field of Embodied AI, focusing on the ability of agents to navigate complex environments based on natural language instructions. Despite the progress made by existing…

Large language models (LLMs) exhibit a variety of promising capabilities in robotics, including long-horizon planning and commonsense reasoning. However, their performance in place recognition is still underexplored. In this work, we…

We present a framework for perspective-aware reasoning in vision-language models (VLMs) through mental imagery simulation. Perspective-taking, the ability to perceive an environment or situation from an alternative viewpoint, is a key…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

This paper addresses semantic planning problems in unknown environments under perceptual uncertainty. The environment contains multiple unknown semantically labeled regions or objects, and the robot must reach desired locations while…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Vision-language models (VLMs) have demonstrated remarkable potential in integrating visual and linguistic information, but their performance is often constrained by the need for extensive, high-quality image-text training data. Curation of…