相关论文: QuASH: Using Natural-Language Heuristics to Query …

Millions of repetitive code snippets are submitted to code repositories every day. To search from these large codebases using simple natural language queries would allow programmers to ideate, prototype, and develop easier and faster.…

Embedding into hyperbolic space is emerging as an effective representation technique for datasets that exhibit hierarchical structure. This development motivates the need for algorithms that are able to effectively extract knowledge and…

With large language models, robots can understand language more flexibly and more capable than ever before. This survey reviews and situates recent literature into a spectrum with two poles: 1) mapping between language and some manually…

In order to facilitate the accesses of general users to knowledge graphs, an increasing effort is being exerted to construct graph-structured queries of given natural language questions. At the core of the construction is to deduce the…

Natural language offers an intuitive and flexible means for humans to communicate with the robots that we will increasingly work alongside in our homes and workplaces. Recent advancements have given rise to robots that are able to interpret…

Open-vocabulary querying in 3D space is challenging but essential for scene understanding tasks such as object localization and segmentation. Language-embedded scene representations have made progress by incorporating language features into…

Applying machine learning algorithms to large-scale, text-based corpora (embeddings) presents a unique opportunity to investigate at scale how human semantic knowledge is organized and how people use it to judge fundamental relationships,…

We address the challenge of task-oriented navigation in unstructured and unknown environments, where robots must incrementally build and reason on rich, metric-semantic maps in real time. Since tasks may require clarification or…

Incorporating domain-specific priors in search and navigation tasks has shown promising results in improving generalization and sample complexity over end-to-end trained policies. In this work, we study how object embeddings that capture…

One of the long-term challenges of robotics is to enable robots to interact with humans in the visual world via natural language, as humans are visual animals that communicate through language. Overcoming this challenge requires the ability…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

Natural language definitions possess a recursive, self-explanatory semantic structure that can support representation learning methods able to preserve explicit conceptual relations and constraints in the latent space. This paper presents a…

Building computers able to answer questions on any subject is a long standing goal of artificial intelligence. Promising progress has recently been achieved by methods that learn to map questions to logical forms or database queries. Such…

Natural language provides a widely accessible and expressive interface for robotic agents. To understand language in complex environments, agents must reason about the full range of language inputs and their correspondence to the world.…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

In Embodied Question Answering (EQA), agents must explore and develop a semantic understanding of an unseen environment to answer a situated question with confidence. This problem remains challenging in robotics, due to the difficulties in…

Geometric relational embeddings map relational data as geometric objects that combine vector information suitable for machine learning and structured/relational information for structured/relational reasoning, typically in low dimensions.…

The rapidly growing ecosystem of Large Language Models (LLMs) makes it increasingly challenging to manage and utilize the vast and dynamic pool of models effectively. We propose LOCUS, a method that produces low-dimensional vector…

Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform tasks efficiently, they must build and maintain a semantic…

Despite the success of vision-language models in various generative tasks, obtaining high-quality semantic representations for products and user intents is still challenging due to the inability of off-the-shelf models to capture nuanced…