相关论文: Personalized Robotic Object Rearrangement from Sce…

Decision-making problems often feature uncertainty stemming from heterogeneous and context-dependent human preferences. To address this, we propose a sequential learning-and-optimization pipeline to learn preference distributions and…

Large Language Models (LLMs) excel in various tasks, including personalized recommendations. Existing evaluation methods often focus on rating prediction, relying on regression errors between actual and predicted ratings. However, user…

We present an online planning framework and a new benchmark dataset for solving multi-object rearrangement problems in partially observable, multi-room environments. Current object rearrangement solutions, primarily based on Reinforcement…

For robots to operate in a three dimensional world and interact with humans, learning spatial relationships among objects in the surrounding is necessary. Reasoning about the state of the world requires inputs from many different sensory…

Context-aware STR methods typically use internal autoregressive (AR) language models (LM). Inherent limitations of AR models motivated two-stage methods which employ an external LM. The conditional independence of the external LM on the…

Indoor relocalization is vital for both robotic tasks like autonomous exploration and civil applications such as navigation with a cell phone in a shopping mall. Some previous approaches adopt geometrical information such as key-point…

Learning-to-rank is a core technique in the top-N recommendation task, where an ideal ranker would be a mapping from an item set to an arrangement (a.k.a. permutation). Most existing solutions fall in the paradigm of probabilistic ranking…

By allowing models to predict without task-specific training, in-context learning (ICL) with pretrained LLMs has enormous potential in NLP. However, a number of problems persist in ICL. In particular, its performance is sensitive to the…

The emerging meta- and multi-verse landscape is yet another step towards the more prevalent use of already ubiquitous online markets. In such markets, recommender systems play critical roles by offering items of interest to the users,…

Many real-world tasks, from house-cleaning to cooking, can be formulated as multi-object rearrangement problems -- where an agent needs to get specific objects into appropriate goal states. For such problems, we focus on the setting that…

Large language models (LLMs) have traditionally been aligned through one-size-fits-all approaches that assume uniform human preferences, fundamentally overlooking the diversity in user values and needs. This paper introduces a comprehensive…

Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…

Recent research has increasingly focused on evaluating large language models' (LLMs) alignment with diverse human values and preferences, particularly for open-ended tasks like story generation. Traditional evaluation metrics rely heavily…

Object placement aims to determine the appropriate placement (\emph{e.g.}, location and size) of a foreground object when placing it on the background image. Most previous works are limited by small-scale labeled dataset, which hinders the…

We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…

Reward models (RMs) are a core component in the post-training of large language models (LLMs), serving as proxies for human preference evaluation and guiding model alignment. However, training reliable RMs under limited resources remains…

Vision-language models (VLMs) aligned with general human objectives, such as being harmless and hallucination-free, have become valuable assistants of humans in managing visual tasks. However, people with diversified backgrounds have…

We present a novel approach for relocalization or place recognition, a fundamental problem to be solved in many robotics, automation, and AR applications. Rather than relying on often unstable appearance information, we consider a situation…

The problem of relevance ranking consists of sorting a set of objects with respect to a given criterion. Since users may prefer different relevance criteria, the ranking algorithms should be adaptable to the user needs. Two main approaches…

Scene recognition is a fundamental task in robotic perception. For human beings, scene recognition is reasonable because they have abundant object knowledge of the real world. The idea of transferring prior object knowledge from humans to…