相关论文: Zero-shot Interactive Perception

Zero-shot visual question answering (ZS-VQA), an emerged critical research area, intends to answer visual questions without providing training samples. Existing research in ZS-VQA has proposed to leverage knowledge graphs or large language…

We propose a novel zero-shot approach for keypoint detection on 3D shapes. Point-level reasoning on visual data is challenging as it requires precise localization capability, posing problems even for powerful models like DINO or CLIP.…

Zero-shot classification is a promising paradigm to solve an applicable problem when the training classes and test classes are disjoint. Achieving this usually needs experts to externalize their domain knowledge by manually specifying a…

Zero-shot learning (ZSL) aims to recognize unseen classes by leveraging semantic information from seen classes, but most existing methods assume accurate class labels for training instances. However, in real-world scenarios, noise and…

Zero-shot intent classification is a vital and challenging task in dialogue systems, which aims to deal with numerous fast-emerging unacquainted intents without annotated training data. To obtain more satisfactory performance, the crucial…

Zero-shot navigation is a critical challenge in Vision-Language Navigation (VLN) tasks, where the ability to adapt to unfamiliar instructions and to act in unknown environments is essential. Existing supervised learning-based models,…

Zero-shot learning (ZSL) aims to recognize unseen classes by aligning images with intermediate class semantics, like human-annotated concepts or class definitions. An emerging alternative leverages Large-scale Language Models (LLMs) to…

Robotic grasping is a fundamental capability for enabling autonomous manipulation, with usually infinite solutions. State-of-the-art approaches for grasping rely on learning from large-scale datasets comprising expert annotations of…

Classical deep neural networks are limited in their ability to learn from emerging streams of training data. When trained sequentially on new or evolving tasks, their performance degrades sharply, making them inappropriate in real-world use…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Prompt learning methods have significantly extended the transferability of pre-trained Vision-Language Models (VLMs) like CLIP for various downstream tasks. These methods adopt handcraft templates or learnable vectors to provide text or…

Object Goal Navigation (ObjectNav) challenges robots to find objects in unseen environments, demanding sophisticated reasoning. While Vision-Language Models (VLMs) show potential, current ObjectNav methods often employ them superficially,…

Incorporating language comprehension into robotic operations unlocks significant advancements in robotics, but also presents distinct challenges, particularly in executing spatially oriented tasks like pattern formation. This paper…

This paper presents Incremental Vision-Language Object Detection (IVLOD), a novel learning task designed to incrementally adapt pre-trained Vision-Language Object Detection Models (VLODMs) to various specialized domains, while…

We propose the zero-shot Vision-and-Language Navigation with Collision Mitigation (VLN-CM), which takes these considerations. VLN-CM is composed of four modules and predicts the direction and distance of the next movement at each step. We…

Zero-shot object navigation in unknown environments presents significant challenges, mainly due to two key limitations: insufficient semantic guidance leads to inefficient exploration, while limited spatial memory resulting from…

Zero-shot learning (ZSL) endeavors to transfer knowledge from seen categories to recognize unseen categories, which mostly relies on the semantic-visual interactions between image and attribute tokens. Recently, prompt learning has emerged…

Zero-shot image recognition (ZSIR) aims to recognize and reason in unseen domains by learning generalized knowledge from limited data in the seen domain. The gist of ZSIR is constructing a well-aligned mapping between the input visual space…

A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment…

Zero-shot learning (ZSL) aims to classify objects that are not observed or seen during training. It relies on class semantic description to transfer knowledge from the seen classes to the unseen classes. Existing methods of obtaining class…