相关论文: RefDrone: A Challenging Benchmark for Referring Ex…

Autonomous agents operating in dynamic and safety-critical environments require decision-making frameworks that are both computationally efficient and physically grounded. However, many existing approaches rely on end-to-end learning, which…

In this work, we introduce OmniDrones, an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse Isaac Sim. It employs a bottom-up design approach that allows users to easily design…

3D Visual Grounding (3DVG) aims to localize the referent of natural language referring expressions through two core tasks: Referring Expression Comprehension (3DREC) and Segmentation (3DRES). While existing methods achieve high accuracy in…

Autonomous drone racing (ADR) systems have recently achieved champion-level performance, yet remain highly specific to drone racing. While end-to-end vision-based methods promise broader applicability, no system to date simultaneously…

The modeling of human emotion expression in speech signals is an important, yet challenging task. The high resource demand of speech emotion recognition models, combined with the the general scarcity of emotion-labelled data are obstacles…

As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…

Existing referring understanding tasks tend to involve the detection of a single text-referred object. In this paper, we propose a new and general referring understanding task, termed referring multi-object tracking (RMOT). Its core idea is…

Referring Expression Comprehension (REC) aims to localize the image region corresponding to a natural language query. Recent neuro-symbolic REC approaches leverage large language models (LLMs) and vision-language models (VLMs) to perform…

Referring understanding is a fundamental task that bridges natural language and visual content by localizing objects described in free-form expressions. However, existing works are constrained by limited language expressiveness, lacking the…

The rapid rise of accessibility of unmanned aerial vehicles or drones pose a threat to general security and confidentiality. Most of the commercially available or custom-built drones are multi-rotors and are comprised of multiple…

Three-dimensional object detection is essential for autonomous driving and robotics, relying on effective fusion of multimodal data from cameras and radar. This work proposes RCDINO, a multimodal transformer-based model that enhances visual…

Reference expression comprehension (REC) aims to find the location that the phrase refer to in a given image. Proposal generation and proposal representation are two effective techniques in many two-stage REC methods. However, most of the…

State-of-the-art image captioning methods mostly focus on improving visual features, less attention has been paid to utilizing the inherent properties of language to boost captioning performance. In this paper, we show that vocabulary…

For robots to understand human instructions and perform meaningful tasks in the near future, it is important to develop learned models that comprehend referential language to identify common objects in real-world 3D scenes. In this paper,…

The collection of large-scale and diverse robot demonstrations remains a major bottleneck for imitation learning, as real-world data acquisition is costly and simulators offer limited diversity and fidelity with pronounced sim-to-real gaps.…

Semantic segmentation is a crucial task for robot navigation and safety. However, it requires huge amounts of pixelwise annotations to yield accurate results. While recent progress in computer vision algorithms has been heavily boosted by…

We introduce DreamGen, a simple yet highly effective 4-stage pipeline for training robot policies that generalize across behaviors and environments through neural trajectories - synthetic robot data generated from video world models.…

Referring Expression Comprehension (REC) and Referring Expression Generation (REG) are fundamental tasks in multimodal understanding, supporting precise object localization through natural language. However, existing REC and REG datasets…

In this paper, we address the problem of referring expression comprehension in videos, which is challenging due to complex expression and scene dynamics. Unlike previous methods which solve the problem in multiple stages (i.e., tracking,…

Embodied reasoning is inherently viewpoint-dependent: what is visible, occluded, or reachable depends critically on where the agent stands. However, existing spatial memory systems for embodied agents typically store either multi-view…