相关论文: ImageInThat: Manipulating Images to Convey User In…

Recently, text-guided image manipulation has received increasing attention in the research field of multimedia processing and computer vision due to its high flexibility and controllability. Its goal is to semantically manipulate parts of…

Modern robotics applications that involve human-robot interaction require robots to be able to communicate with humans seamlessly and effectively. Natural language provides a flexible and efficient medium through which robots can exchange…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Image restoration is a fundamental problem that involves recovering a high-quality clean image from its degraded observation. All-In-One image restoration models can effectively restore images from various types and levels of degradation…

The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to unseen scenarios. We argue that interleaved image-text…

We introduce HandMeThat, a benchmark for a holistic evaluation of instruction understanding and following in physical and social environments. While previous datasets primarily focused on language grounding and planning, HandMeThat…

We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…

In this paper, we are interested in modeling a how-to instructional procedure, such as a cooking recipe, with a meaningful and rich high-level representation. Specifically, we propose to represent cooking recipes and food images as cooking…

In robotic, task goals can be conveyed through various modalities, such as language, goal images, and goal videos. However, natural language can be ambiguous, while images or videos may offer overly detailed specifications. To tackle these…

We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel…

Our goal is for robots to follow natural language instructions like "put the towel next to the microwave." But getting large amounts of labeled data, i.e. data that contains demonstrations of tasks labeled with the language instruction, is…

Prompt-based learning has been demonstrated as a compelling paradigm contributing to large language models' tremendous success (LLMs). Inspired by their success in language tasks, existing research has leveraged LLMs in embodied instruction…

Compared to machines, humans are extremely good at classifying images into categories, especially when they possess prior knowledge of the categories at hand. If this prior information is not available, supervision in the form of teaching…

Editing images via instruction provides a natural way to generate interactive content, but it is a big challenge due to the higher requirement of scene understanding and generation. Prior work utilizes a chain of large language models,…

In recent years, text-guided image manipulation has gained increasing attention in the multimedia and computer vision community. The input to conditional image generation has evolved from image-only to multimodality. In this paper, we study…

Ability to generate intelligent and generalizable facial expressions is essential for building human-like social robots. At present, progress in this field is hindered by the fact that each facial expression needs to be programmed by…

Imitation learning has emerged as a powerful paradigm in robot manipulation, yet its generalization capability remains constrained by object-specific dependencies in limited expert demonstrations. To address this challenge, we propose…

Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…

Recently, researchers have proposed powerful systems for generating and manipulating images using natural language instructions. However, it is difficult to precisely specify many common classes of image transformations with text alone. For…

Observational learning is a promising approach to enable people without expertise in programming to transfer skills to robots in a user-friendly manner, since it mirrors how humans learn new behaviors by observing others. Many existing…