16 accepted papers
Multimodal Large Language Models (MLLM) have enabled a wide range of advanced vision-language applications, including fine-grained object recognition and contextual understanding. When querying specific regions or objects in an image, human users naturally use "Visual Prompts" (VP) like bounding box
Reinforcement learning (RL) for large language models (LLMs) typically requires clear reward signals, which are often unavailable for open-ended (OE) questions where answer evaluation is ambiguous without scalable expert labeling. We investigate whether LLMs benefit from training on mixed data with
Recognizing subtle similarities and differences among sets of similar activities is central to many real-world applications, including skill acquisition, sports performance evaluation, and anomaly detection. Humans excel at such fine-grained analysis, which requires comprehensive video understanding…
Conformal prediction is a statistical framework that generates prediction sets containing ground-truth labels with a desired coverage guarantee. The predicted probabilities produced by machine learning models are generally miscalibrated, leading to large prediction sets in conformal prediction. To a…
Recognizing daily human activities is essential for domestic robots to assist humans effectively in indoor environments. These activities typically involve sequences of interactions between humans and objects across different locations and times within a household. Identifying these events and under…
Designing accurate reward functions for reinforcement learning (RL) has long been challenging. Preference-based RL (PbRL) offers a promising approach by using human preferences to train agents, eliminating the need for manual reward design. While successful in single-agent tasks, extending PbRL to c…
Safe reinforcement learning (RL) requires the agent to finish a given task while obeying specific constraints. Giving constraints in natural language form has great potential for practical scenarios due to its flexible transfer capability and accessibility. Previous safe RL methods with natural lang…
In outdoor environments, Vision-and-Language Navigation (VLN) requires an agent to rely on multi-modal cues from real-world urban environments and natural language instructions. While existing outdoor VLN models predict actions using a combination of panorama and instruction features, this approach…
Understanding of scene changes is crucial for embodied AI applications, such as visual room rearrangement, where the agent must revert changes by restoring the objects to their original locations or states. Visual changes between two scenes, pre- and post-rearrangement, encompass two tasks: scene ch…
Visual inspection robots used in factories and outdoor environments require the ability to accurately recognize visual differences between similar objects and further verbalize the recognition results to present the differences to humans. Despite the application of Large Language Models (LLMs) and m…
Recognizing continuous changes offers valuable insights into past historical events supports current trend analysis and facilitates future planning. This knowledge is crucial for a variety of fields such as meteorology and agriculture environmental science urban planning and construction tourism and…
This paper proposes a new visual reasoning formulation that aims at discovering changes between image pairs and their temporal orders. Recognizing scene dynamics and their chronological orders is a fundamental aspect of human cognition. The aforementioned abilities make it possible to follow step-by…
We introduce a new task of question generation to eliminate the uncertainty of referring expressions in 3D indoor environments (3D-REQ). Referring to an object using natural language is one of the most common occurrences in daily human conversations; therefore, instructing robots to identify a certa…
Recently, Decision Transformer (DT) pioneered the offline RL into a contextual conditional sequence modeling paradigm, which leverages self-attended autoregression to learn from global target rewards, states, and actions. However, many applications have a severe delay of the above signals, such as t…
Existing change captioning studies have mainly focused on a single change. However, detecting and describing multiple changed parts in image pairs is essential for enhancing adaptability to complex scenarios. We solve the above issues from three aspects: (i) We propose a simulation-based multi-chang…
In this letter, we propose a framework that recognizes and describes changes that occur in a scene observed from multiple viewpoints in natural language text. The ability to recognize and describe changes that occurred in a 3D scene plays an essential role in a variety of human-robot interaction app