相关论文: Heuristic-inspired Reasoning Priors Facilitate Dat…

Zero-shot referring image segmentation aims to locate and segment the target region based on a referring expression, with the primary challenge of aligning and matching semantics across visual and textual modalities without training.…

We introduce Reward-Guided Speculative Decoding (RSD), a novel framework aimed at improving the efficiency of inference in large language models (LLMs). RSD synergistically combines a lightweight draft model with a more powerful target…

Enabling robots to efficiently search for and identify objects in complex, unstructured environments is critical for diverse applications ranging from household assistance to industrial automation. However, traditional scene representations…

Referring image segmentation is a challenging task that involves generating pixel-wise segmentation masks based on natural language descriptions. The complexity of this task increases with the intricacy of the sentences provided. Existing…

Reasoning language models perform well on complex tasks but are costly to deploy due to their size and long reasoning traces. We propose a routing approach that assigns each problem to the smallest model likely to solve it, reducing compute…

Learning to infer labels in an open world, i.e., in an environment where the target "labels" are unknown, is an important characteristic for achieving autonomy. Foundation models pre-trained on enormous amounts of data have shown remarkable…

Open-set object detection (OSOD) localizes objects while identifying and rejecting unknown classes at inference. While recent OSOD models perform well on benchmarks, their behavior under realistic user prompting remains underexplored. In…

Recent development in vision-language approaches has instigated a paradigm shift in learning visual recognition models from language supervision. These approaches align objects with language queries (e.g. "a photo of a cat") and improve the…

Reasoning language models have demonstrated remarkable performance on many challenging tasks in math, science, and coding. Choosing the right reasoning model for practical deployment involves a performance and cost tradeoff at two key…

With the goal of efficiently computing collision-free robot motion trajectories in dynamically changing environments, we present results of a novel method for Heuristics Informed Robot Online Path Planning (HIRO). Dividing robot…

Developing 3D semantic occupancy prediction models often relies on dense 3D annotations for supervised learning, a process that is both labor and resource-intensive, underscoring the need for label-efficient or even label-free approaches.…

Embodied Reference Understanding requires identifying a target object in a visual scene based on both language instructions and pointing cues. While prior works have shown progress in open-vocabulary object detection, they often fail in…

Visual grounding tasks, such as referring image segmentation (RIS) and referring expression comprehension (REC), aim to localize a target object based on a given textual description. The target object in an image can be described in…

Referring Expression Comprehension (REC) is a vision-language task that localizes a specific image region based on a textual description. Existing REC benchmarks primarily evaluate perceptual capabilities and lack interpretable scoring…

Training on verifiable symbolic data is a promising way to expand the reasoning frontier of language models beyond what standard pre-training corpora provide. Yet existing procedural generators often rely on fixed puzzles or templates and…

Drones have become prevalent robotic platforms with diverse applications, showing significant potential in Embodied Artificial Intelligence (Embodied AI). Referring Expression Comprehension (REC) enables drones to locate objects based on…

Object detectors trained on fully-annotated data currently yield state of the art performance but require expensive manual annotations. On the other hand, weakly-supervised detectors have much lower performance and cannot be used reliably…

Reference Audio-Visual Segmentation (Ref-AVS) tasks challenge models to precisely locate sounding objects by integrating visual, auditory, and textual cues. Existing methods often lack genuine semantic understanding, tending to memorize…

The ever-increasing use of artificial intelligence in autonomous systems has significantly contributed to advance the research on multi-object tracking, adopted in several real-time applications (e.g., autonomous driving, surveillance…

Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…