相关论文: Spatial Language Likelihood Grounding Network for …

The integration of semantic information in a map allows robots to understand better their environment and make high-level decisions. In the last few years, neural networks have shown enormous progress in their perception capabilities.…

Reasoning about spatial relationships between objects is essential for many real-world robotic tasks, such as fetch-and-delivery, object rearrangement, and object search. The ability to detect and disambiguate different objects and identify…

As robots become more ubiquitous and capable, it becomes ever more important to enable untrained users to easily interact with them. Recently, this has led to study of the language grounding problem, where the goal is to extract…

A robot in a human-centric environment needs to account for the human's intent and future motion in its task and motion planning to ensure safe and effective operation. This requires symbolic reasoning about probable future actions and the…

We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot conversation and collaboration. We introduce a modular and…

Multi-sensor state space models underpin fusion applications in networks of sensors. Estimation of latent parameters in these models has the potential to provide highly desirable capabilities such as network self-calibration. Conventional…

In many computer vision tasks, for example saliency prediction or semantic segmentation, the desired output is a foreground map that predicts pixels where some criteria is satisfied. Despite the inherently spatial nature of this task…

Large language models (LLMs) continue to advance, with an increasing number of domain-specific variants tailored for specialised tasks. However, these models often lack transparency and explainability, can be costly to fine-tune, require…

A robot's ability to understand or ground natural language instructions is fundamentally tied to its knowledge about the surrounding world. We present an approach to grounding natural language utterances in the context of factual…

Large vision-and-language models (VLMs) trained to match images with text on large-scale datasets of image-text pairs have shown impressive generalization ability on several vision and language tasks. Several recent works, however, showed…

Heterogeneous multirobot systems show great potential in complex tasks requiring coordinated hybrid cooperation. However, existing methods that rely on static or task-specific models often lack generalizability across diverse tasks and…

Many task domains require robots to interpret and act upon natural language commands which are given by people and which refer to the robot's physical surroundings. Such interpretation is known variously as the symbol grounding problem,…

Recent progress in large language models (LLMs) has demonstrated the ability to learn and leverage Internet-scale knowledge through pre-training with autoregressive models. Unfortunately, applying such models to settings with embodied…

Large language models (LLMs) show remarkable capabilities across a variety of tasks. Despite the models only seeing text in training, several recent studies suggest that LLM representations implicitly capture aspects of the underlying…

The paper presents an approach to semantic grounding of language models (LMs) that conceptualizes the LM as a conditional model generating text given a desired semantic message formalized as a set of entity-relationship triples. It embeds…

This paper presents GRASP, a novel benchmark to evaluate the language grounding and physical understanding capabilities of video-based multimodal large language models (LLMs). This evaluation is accomplished via a two-tier approach…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Robots collaborating with humans must convert natural language goals into actionable, physically grounded decisions. For example, executing a command such as "go two meters to the right of the fridge" requires grounding semantic references,…

Probabilistic load forecasting (PLF) is a key component in the extended tool-chain required for efficient management of smart energy grids. Neural networks are widely considered to achieve improved prediction performances, supporting highly…

A neural probabilistic language model (NPLM) provides an idea to achieve the better perplexity than n-gram language model and their smoothed language models. This paper investigates application area in bilingual NLP, specifically…