相关论文: Language-Based Swarm Perception: Decentralized Per…

Given a swarm of limited-capability robots, we seek to automatically discover the set of possible emergent behaviors. Prior approaches to behavior discovery rely on human feedback or hand-crafted behavior metrics to represent and evolve…

Incremental decision making in real-world environments is one of the most challenging tasks in embodied artificial intelligence. One particularly demanding scenario is Vision and Language Navigation~(VLN) which requires visual and natural…

Dense visual perception tasks have been constrained by their reliance on predefined categories, limiting their applicability in real-world scenarios where visual concepts are unbounded. While Vision-Language Models (VLMs) like CLIP have…

Swarm foraging algorithms, such as the central-place foraging algorithm (CPFA), typically rely on offline parameter optimization using genetic algorithms (GA) or reinforcement learning, yielding policies tightly coupled to a specific…

Large language models (LLMs) are increasingly integrated into users' daily lives, leading to a growing demand for personalized outputs. Previous work focuses on leveraging a user's own history, overlooking inter-user differences that are…

Evaluating the surroundings to gain understanding, frame perspectives, and anticipate behavioral reactions is an inherent human trait. However, these continuous encounters are diverse and complex, posing challenges to their study and…

A 3D scene graph represents a compact scene model by capturing both the objects present and the semantic relationships between them, making it a promising structure for robotic applications. To effectively interact with users, an embodied…

How can a robot quickly identify and recognize new objects shown to it during a human demonstration? Existing closed-set object detectors frequently fail at this because the objects are out-of-distribution. While open-set detectors (e.g.,…

Searching persons in large-scale image databases with the query of natural language description has important applications in video surveillance. Existing methods mainly focused on searching persons with image-based or attribute-based…

Vision language models (VLMs) are AI systems paired with both language and vision encoders to process multimodal input. They are capable of performing complex semantic tasks such as automatic captioning, but it remains an open question…

Existing person re-identification (Re-ID) methods mostly follow a centralised learning paradigm which shares all training data to a collection for model learning. This paradigm is limited when data from different sources cannot be shared…

Natural language processing (NLP) techniques have become mainstream in the recent decade. Most of these advances are attributed to the processing of a single language. More recently, with the extensive growth of social media platforms focus…

Traditional Human-Swarm Interaction (HSI) methods often lack intuitive real-time adaptive interfaces, making decision making slower and increasing cognitive load while limiting command flexibility. To solve this, we present SwarmChat, a…

In the animal kingdom, mirror self-recognition is a canonical probe of higher-order cognition, emerging only in some species. We ask whether an analogous functional capability emerges in embodied vision-language model (VLM) agents: can they…

Understanding how humans conceptualize and categorize natural objects offers critical insights into perception and cognition. With the advent of Large Language Models (LLMs), a key question arises: can these models develop human-like object…

Object search is a challenging task because when given complex language descriptions (e.g., "find the white cup on the table"), the robot must move its camera through the environment and recognize the described object. Previous works map…

Large multimodal models exhibit remarkable intelligence, yet their embodied cognitive abilities during motion in open-ended urban 3D space remain to be explored. We introduce a benchmark to evaluate whether video-large language models…

In this paper, we discuss the adaptation of our decentralized place recognition method described in [1] to full image descriptors. As we had shown, the key to making a scalable decentralized visual place recognition lies in exploting…

In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…

Traditional psychological experiments utilizing naturalistic stimuli face challenges in manual annotation and ecological validity. To address this, we introduce a novel paradigm leveraging multimodal large language models (LLMs) as proxies…