اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدRobot Object Retrieval with Contextual Natural Language Queries
421
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
Natural language object retrieval is a highly useful yet challenging task for robots in human-centric environments. Previous work has primarily focused on commands specifying the desired objects type such as scissors and/or visual attributes such as red, thus limiting the robot to only known object classes. We develop a model to retrieve objects based on descriptions of their usage. The model takes in a language command containing a verb, for example Hand me something to cut, and RGB images of candidate objects and selects the object that best satisfies the task specified by the verb. Our model directly predicts an objects appearance from the objects use specified by a verb phrase. We do not need to explicitly specify an objects class label. Our approach allows us to predict high level concepts like an objects utility based on the language query. Based on contextual information present in the language commands, our model can generalize to unseen object classes and unknown nouns in the commands. Our model correctly selects objects out of sets of five candidates to fulfill natural language commands, and achieves an average accuracy of 62.3% on a held-out test set of unseen ImageNet object classes and 53.0% on unseen object classes and unknown nouns. Our model also achieves an average accuracy of 54.7% on unseen YCB object classes, which have a different image distribution from ImageNet objects. We demonstrate our model on a KUKA LBR iiwa robot arm, enabling the robot to retrieve objects based on natural language descriptions of their usage. We also present a new dataset of 655 verb-object pairs denoting object usage over 50 verbs and 216 object classes.
قيم البحث
اقرأ أيضاً
In this paper, we propose a novel method for video moment retrieval (VMR) that achieves state of the arts (SOTA) performance on R@1 metrics and surpassing the SOTA on the high IoU metric (R@1, IoU=0.7). First, we propose to use a multi-head self-at
tention mechanism, and further a cross-attention scheme to capture video/query interaction and long-range query dependencies from video context. The attention-based methods can develop frame-to-query interaction and query-to-frame interaction at arbitrary positions and the multi-head setting ensures the sufficient understanding of complicated dependencies. Our model has a simple architecture, which enables faster training and inference while maintaining . Second, We also propose to use multiple task training objective consists of moment segmentation task, start/end distribution prediction and start/end location regression task. We have verified that start/end prediction are noisy due to annotator disagreement and joint training with moment segmentation task can provide richer information since frames inside the target clip are also utilized as positive training examples. Third, we propose to use an early fusion approach, which achieves better performance at the cost of inference time. However, the inference time will not be a problem for our model since our model has a simple architecture which enables efficient training and inference.
We consider the task of retrieving audio using free-form natural language queries. To study this problem, which has received limited attention in the existing literature, we introduce challenging new benchmarks for text-based audio retrieval using te
xt annotations sourced from the Audiocaps and Clotho datasets. We then employ these benchmarks to establish baselines for cross-modal audio retrieval, where we demonstrate the benefits of pre-training on diverse audio tasks. We hope that our benchmarks will inspire further research into cross-modal text-based audio retrieval with free-form text queries.
Building neural networks to query a knowledge base (a table) with natural language is an emerging research topic in deep learning. An executor for table querying typically requires multiple steps of execution because queries may have complicated stru
ctures. In previous studies, researchers have developed either fully distributed executors or symbolic executors for table querying. A distributed executor can be trained in an end-to-end fashion, but is weak in terms of execution efficiency and explicit interpretability. A symbolic executor is efficient in execution, but is very difficult to train especially at initial stages. In this paper, we propose to couple distributed and symbolic execution for natural language queries, where the symbolic executor is pretrained with the distributed executors intermediate execution results in a step-by-step fashion. Experiments show that our approach significantly outperforms both distributed and symbolic executors, exhibiting high accuracy, high learning efficiency, high execution efficiency, and high interpretability.
Detecting customized moments and highlights from videos given natural language (NL) user queries is an important but under-studied topic. One of the challenges in pursuing this direction is the lack of annotated data. To address this issue, we presen
t the Query-based Video Highlights (QVHighlights) dataset. It consists of over 10,000 YouTube videos, covering a wide range of topics, from everyday activities and travel in lifestyle vlog videos to social and political activities in news videos. Each video in the dataset is annotated with: (1) a human-written free-form NL query, (2) relevant moments in the video w.r.t. the query, and (3) five-point scale saliency scores for all query-relevant clips. This comprehensive annotation enables us to develop and evaluate systems that detect relevant moments as well as salient highlights for diverse, flexible user queries. We also present a strong baseline for this task, Moment-DETR, a transformer encoder-decoder model that views moment retrieval as a direct set prediction problem, taking extracted video and query representations as inputs and predicting moment coordinates and saliency scores end-to-end. While our model does not utilize any human prior, we show that it performs competitively when compared to well-engineered architectures. With weakly supervised pretraining using ASR captions, Moment-DETR substantially outperforms previous methods. Lastly, we present several ablations and visualizations of Moment-DETR. Data and code is publicly available at https://github.com/jayleicn/moment_detr
Enabling robots to understand instructions provided via spoken natural language would facilitate interaction between robots and people in a variety of settings in homes and workplaces. However, natural language instructions are often missing informat
ion that would be obvious to a human based on environmental context and common sense, and hence does not need to be explicitly stated. In this paper, we introduce Language-Model-based Commonsense Reasoning (LMCR), a new method which enables a robot to listen to a natural language instruction from a human, observe the environment around it, and automatically fill in information missing from the instruction using environmental context and a new commonsense reasoning approach. Our approach first converts an instruction provided as unconstrained natural language into a form that a robot can understand by parsing it into verb frames. Our approach then fills in missing information in the instruction by observing objects in its vicinity and leveraging commonsense reasoning. To learn commonsense reasoning automatically, our approach distills knowledge from large unstructured textual corpora by training a language model. Our results show the feasibility of a robot learning commonsense knowledge automatically from web-based textual corpora, and the power of learned commonsense reasoning models in enabling a robot to autonomously perform tasks based on incomplete natural language instructions.
الأسئلة المقترحة
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
