相关论文: Ablation Study of Multimodal Perception, Language …

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…

Understanding and modeling human behavior is fundamental to almost any computer vision and robotics applications that involve humans. In this thesis, we take a holistic approach to human behavior modeling and tackle its three essential…

Recent successes in machine learning have led to a shift in the design of autonomous systems, improving performance on existing tasks and rendering new applications possible. Data-focused approaches gain relevance across diverse, intricate…

With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…

Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…

We are interested in anticipating as early as possible the target location of a person's object manipulation action in a 3D workspace from egocentric vision. It is important in fields like human-robot collaboration, but has not yet received…

Eye tracking data during reading is a useful source of information to understand the cognitive processes that take place during language comprehension processes. Different languages account for different brain triggers , however there seems…

We address the problem of bootstrapping language acquisition for an artificial system similarly to what is observed in experiments with human infants. Our method works by associating meanings to words in manipulation tasks, as a robot…

Natural language understanding for robotics can require substantial domain- and platform-specific engineering. For example, for mobile robots to pick-and-place objects in an environment to satisfy human commands, we can specify the language…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

Autonomous robots operating in dynamic environments should identify and report anomalies. Embodying proactive mitigation improves safety and operational continuity. This paper presents a multimodal anomaly detection and mitigation system…

Recent advances in multimodal large language models (MLLMs) have enabled richer perceptual grounding for code policy generation in embodied agents. However, most existing systems lack effective mechanisms to adaptively monitor policy…

For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understanding lies in detecting an object's affordances, which…

Imitation learning for acquiring generalizable policies often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address this challenge is to leverage the cognitive and…

We introduce the concept of "empathic grounding" in conversational agents as an extension of Clark's conceptualization of grounding in conversation in which the grounding criterion includes listener empathy for the speaker's affective…

With the recent development of natural language generation models - termed as large language models (LLMs) - a potential use case has opened up to improve the way that humans interact with robot assistants. These LLMs should be able to…

Recent advances in large-scale machine learning have produced high-capacity foundation models capable of adapting to a broad array of downstream tasks. While such models hold great promise for robotics, the prevailing paradigm still…

As robots become more ubiquitous and capable, it becomes ever more important to enable untrained users to easily interact with them. Recently, this has led to study of the language grounding problem, where the goal is to extract…

Here we build a hierarchical modular network called Language guided machine action (LGMA), whose modules process information stream mimicking human cortical network that allows to achieve multiple general tasks such as language guided…