相关论文: Zero-shot Interactive Perception

There is a growing interest in applying large language models (LLMs) in robotic tasks, due to their remarkable reasoning ability and extensive knowledge learned from vast training corpora. Grounding LLMs in the physical world remains an…

The rise of foundation models paves the way for generalist robot policies in the physical world. Existing methods relying on text-only instructions often struggle to generalize to unseen scenarios. We argue that interleaved image-text…

Object detection plays a deep role in visual systems by identifying instances for downstream algorithms. In industrial scenarios, however, a slight change in manufacturing systems would lead to costly data re-collection and human annotation…

Zero-shot referring expression comprehension (REC) aims to locate target objects in images given natural language queries without relying on task-specific training data, demanding strong visual understanding capabilities. Existing…

Zero-shot Human-Object Interaction (HOI) detection has emerged as a frontier topic due to its capability to detect HOIs beyond a predefined set of categories. This task entails not only identifying the interactiveness of human-object pairs…

Generalized zero-shot semantic segmentation (GZS3) aims to achieve the human-level capability of segmenting not only seen classes but also novel class regions unseen in the training data through introducing the bridge of semantic…

Current state-of-the-art spatial reasoning-enhanced VLMs are trained to excel at spatial visual question answering (VQA). However, we believe that higher-level 3D-aware tasks, such as articulating dynamic scene changes and motion planning,…

Variational Information Pursuit (V-IP) is a framework for making interpretable predictions by design by sequentially selecting a short chain of task-relevant, user-defined and interpretable queries about the data that are most informative…

This paper presents UNCOM, a novel hybrid framework for interpreting natural human commands in tabletop scenarios. The system integrates multiple sources of information -- speech, gestures, and scene context -- to extract structured,…

Zero-shot action recognition (ZSAR) requires collaborative multi-modal spatiotemporal understanding. However, finetuning CLIP directly for ZSAR yields suboptimal performance, given its inherent constraints in capturing essential temporal…

Vision-language models (VLMs) classify the query video by calculating a similarity score between the visual features and text-based class label representations. Recently, large language models (LLMs) have been used to enrich the text-based…

Vision-language models (VLMs) have demonstrated remarkable performance across various visual tasks, leveraging joint learning of visual and textual representations. While these models excel in zero-shot image tasks, their application to…

Pre-trained vision-language models (VLMs) like CLIP have demonstrated impressive zero-shot performance on a wide range of downstream computer vision tasks. However, there still exists a considerable performance gap between these models and…

We propose a novel Generalized Zero-Shot learning (GZSL) method that is agnostic to both unseen images and unseen semantic vectors during training. Prior works in this context propose to map high-dimensional visual features to the semantic…

In most recent years, zero-shot recognition (ZSR) has gained increasing attention in machine learning and image processing fields. It aims at recognizing unseen class instances with knowledge transferred from seen classes. This is typically…

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…

Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…

Vision-language models enable open-world classification of objects without the need for any retraining. While this zero-shot paradigm marks a significant advance, even today's best models exhibit skewed performance when objects are…

Vision-based imitation learning has shown promising capabilities of endowing robots with various motion skills given visual observation. However, current visuomotor policies fail to adapt to drastic changes in their visual observations. We…

Zero-Shot Stance Detection (ZSSD) identifies the attitude of the post toward unseen targets. Existing research using contrastive, meta-learning, or data augmentation suffers from generalizability issues or lack of coherence between text and…