相关论文: Resource-Efficient Affordance Grounding with Compl…

Vision-Language Models (VLMs) such as CLIP have demonstrated remarkable generalization capabilities to downstream tasks. However, existing prompt tuning based frameworks need to parallelize learnable textual inputs for all categories,…

Text-to-image (TTI) diffusion models have achieved remarkable visual quality, yet they have been repeatedly shown to exhibit social biases across sensitive attributes such as gender, race and age. To mitigate these biases, existing…

Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…

Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…

Unlike Object Detection, Visual Grounding task necessitates the detection of an object described by complex free-form language. To simultaneously model such complex semantic and visual representations, recent state-of-the-art studies adopt…

Affordance Templates (ATs) are a method for parameterizing objects for autonomous robot manipulations. In this approach, instances of an object are registered by positioning a model in a 3D environment, which requires a large amount of user…

We propose a novel prompt tuning method called CoAPT(Context Attribute words in Prompt Tuning) for few/zero-shot image classification. The core motivation is that attributes are descriptive words with rich information about a given concept.…

In this work, we focus on the problem of grounding language by training an agent to follow a set of natural language instructions and navigate to a target object in an environment. The agent receives visual information through raw pixels…

Embodied agents operating in human spaces must be able to master how their environment works: what objects can the agent use, and how can it use them? We introduce a reinforcement learning approach for exploration for interaction, whereby…

Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…

We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently learn such capability, our key idea is to disentangle…

Empowered by transformer-based models, visual tracking has advanced significantly. However, the slow speed of current trackers limits their applicability on devices with constrained computational resources. To address this challenge, we…

Data-driven approach for grasping shows significant advance recently. But these approaches usually require much training data. To increase the efficiency of grasping data collection, this paper presents a novel grasp training system…

Image matting is an important computer vision problem. Many existing matting methods require a hand-made trimap to provide auxiliary information, which is very expensive and limits the real world usage. Recently, some trimap-free methods…

Achieving precise and generalizable grasping across diverse objects and environments is essential for intelligent and collaborative robotic systems. However, existing approaches often struggle with ambiguous affordance reasoning and limited…

This work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation, dubbed RAM, featuring generalizability across various objects, environments, and embodiments. Unlike existing approaches that learn manipulation from…

Deploying large multimodal language models at scale is constrained by token-based inference costs, yet the cost-performance behavior of visual prompting strategies remains poorly characterized. We introduce Image Prompt Packaging (IPPg), a…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

Today, there are two major paradigms for vision-based autonomous driving systems: mediated perception approaches that parse an entire scene to make a driving decision, and behavior reflex approaches that directly map an input image to a…