相关论文: MapBERT: Bitwise Masked Modeling for Real-Time Sem…

Zero-shot recognition aims to accurately recognize objects of unseen classes by using a shared visual-semantic mapping between the image feature space and the semantic embedding space. This mapping is learned on training data of seen…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

This work presents an embodied agent that can adapt its semantic segmentation network to new indoor environments in a fully autonomous way. Because semantic segmentation networks fail to generalize well to unseen environments, the agent…

The latest work on language representations carefully integrates contextualized features into language model training, which enables a series of success especially in various machine reading comprehension and natural language inference…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

Diffusion models have recently received increasing research attention for their remarkable transfer abilities in semantic segmentation tasks. However, generating fine-grained segmentation masks with diffusion models often requires…

In this article, we introduce a novel strategy for robotic exploration in unknown environments using a semantic topometric map. As it will be presented, the semantic topometric map is generated by segmenting the grid map of the currently…

In target-driven navigation and autonomous exploration, reasonable prediction of unknown regions is crucial for efficient navigation and environment understanding. Existing methods mostly focus on single objects or geometric occupancy maps,…

Recent advances in language modeling have witnessed the rise of highly desirable emergent capabilities, such as reasoning and in-context learning. However, vision models have yet to exhibit comparable progress in these areas. In this paper,…

Zero-shot learning for visual recognition, e.g., object and action recognition, has recently attracted a lot of attention. However, it still remains challenging in bridging the semantic gap between visual features and their underlying…

Amodal perception terms the ability of humans to imagine the entire shapes of occluded objects. This gives humans an advantage to keep track of everything that is going on, especially in crowded situations. Typical perception functions,…

Manifold-learning techniques are routinely used in mining complex spatiotemporal data to extract useful, parsimonious data representations/parametrizations; these are, in turn, useful in nonlinear model identification tasks. We focus here…

This paper considers the problem of efficient exploration of unseen environments, a key challenge in AI. We propose a `learning to explore' framework where we learn a policy from a distribution of environments. At test time, presented with…

For intelligent robots to interact in meaningful ways with their environment, they must understand both the geometric and semantic properties of the scene surrounding them. The majority of research to date has addressed these mapping…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…

Traditional transformer-based semantic segmentation relies on quantized embeddings. However, our analysis reveals that autoencoder accuracy on segmentation mask using quantized embeddings (e.g. VQ-VAE) is 8% lower than continuous-valued…

Semantic segmentation is a computer vision task that associates a label with each pixel in an image. Modern approaches tend to introduce class embeddings into semantic segmentation for deeply utilizing category semantics, and regard…

Thanks to the impressive progress of large-scale vision-language pretraining, recent recognition models can classify arbitrary objects in a zero-shot and open-set manner, with a surprisingly high accuracy. However, translating this success…

We propose a new technique for computational language representation called elementwise embedding, in which a material (semantic unit) is abstracted into a horizontal concatenation of lower-dimensional element (character) embeddings. While…

Embodied AI has made significant progress acting in unexplored environments. However, tasks such as object search have largely focused on efficient policy learning. In this work, we identify several gaps in current search methods: They…