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Perception Matters: Enhancing Embodied AI with Uncertainty-Aware Semantic Segmentation

5 August 2024

Papers citing "Perception Matters: Enhancing Embodied AI with Uncertainty-Aware Semantic Segmentation"

39 / 39 papers shown

Title
MORE: Mobile Manipulation Rearrangement Through Grounded Language Reasoning Mohammad Mohammadi Daniel Honerkamp Martin Buchner Matteo Cassinelli Tim Welschehold Fabien Despinoy Igor Gilitschenski Abhinav Valada LM&Ro LRM 88 0 0 05 May 2025
Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation Daniel Honerkamp Martin Buchner Fabien Despinoy Tim Welschehold Abhinav Valada LM&Ro 81 32 0 13 Mar 2024
uPLAM: Robust Panoptic Localization and Mapping Leveraging Perception Uncertainties Kshitij Sirohi Daniel Buscher Wolfram Burgard 59 1 0 08 Feb 2024
Semantic Scene Segmentation for Robotics Juana Valeria Hurtado Abhinav Valada VLM SSeg 70 27 0 15 Jan 2024
GOAT: GO to Any Thing Matthew Chang Théophile Gervet Mukul Khanna Sriram Yenamandra Dhruv Shah ... Saurabh Gupta Dhruv Batra Roozbeh Mottaghi Jitendra Malik Devendra Singh Chaplot 73 74 0 10 Nov 2023
Interactive Semantic Map Representation for Skill-based Visual Object Navigation T. Zemskova A. Staroverov K. Muravyev Dmitry A. Yudin Aleksandr I. Panov 97 2 0 07 Nov 2023
Learning Hierarchical Interactive Multi-Object Search for Mobile Manipulation F. Schmalstieg Daniel Honerkamp Tim Welschehold Abhinav Valada 50 16 0 12 Jul 2023
How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontiers Junting Chen Ge Li Suryansh Kumar Guohao Li Feng Yu LM&Ro 72 59 0 26 May 2023
MOPA: Modular Object Navigation with PointGoal Agents Sonia Raychaudhuri Tommaso Campari Unnat Jain Manolis Savva Angel X. Chang 3DPC 76 8 0 07 Apr 2023
EvCenterNet: Uncertainty Estimation for Object Detection using Evidential Learning Monish R. Nallapareddy Kshitij Sirohi Paulo L. J. Drews-Jr Wolfram Burgard Chih-Hong Cheng Abhinav Valada EDL 64 8 0 06 Mar 2023
SkyEye: Self-Supervised Bird's-Eye-View Semantic Mapping Using Monocular Frontal View Images Nikhil Gosala Kürsat Petek Paulo L. J. Drews-Jr Wolfram Burgard Abhinav Valada MDE 53 36 0 08 Feb 2023
ESC: Exploration with Soft Commonsense Constraints for Zero-shot Object Navigation KAI-QING Zhou Kai Zheng Connor Pryor Yilin Shen Hongxia Jin Lise Getoor Xinze Wang 101 118 0 30 Jan 2023
PIRLNav: Pretraining with Imitation and RL Finetuning for ObjectNav Ram Ramrakhya Dhruv Batra Erik Wijmans Abhishek Das OffRL 133 61 0 18 Jan 2023
Uncertainty-aware LiDAR Panoptic Segmentation Kshitij Sirohi Sajad Marvi Daniel Buscher Wolfram Burgard 3DPC UQCV 63 7 0 10 Oct 2022
TrackletMapper: Ground Surface Segmentation and Mapping from Traffic Participant Trajectories Jannik Zürn Sebastian Weber Wolfram Burgard 63 5 0 12 Sep 2022
Efficient Multi-Task RGB-D Scene Analysis for Indoor Environments Daniel Seichter Söhnke Benedikt Fischedick Mona Köhler H. Groß 64 37 0 10 Jul 2022
Uncertainty-aware Panoptic Segmentation Kshitij Sirohi Sajad Marvi Daniel Buscher Wolfram Burgard EDL UQCV 62 26 0 29 Jun 2022
Learning Long-Horizon Robot Exploration Strategies for Multi-Object Search in Continuous Action Spaces F. Schmalstieg Daniel Honerkamp Tim Welschehold Abhinav Valada 83 19 0 23 May 2022
Stubborn: A Strong Baseline for Indoor Object Navigation Haokuan Luo Albert Yue Zhang-Wei Hong Pulkit Agrawal 83 45 0 14 Mar 2022
Navigating to Objects in Unseen Environments by Distance Prediction Minzhao Zhu Binglei Zhao Tao Kong 42 33 0 08 Feb 2022
PONI: Potential Functions for ObjectGoal Navigation with Interaction-free Learning Santhosh Kumar Ramakrishnan Devendra Singh Chaplot Ziad Al-Halah Jitendra Malik Kristen Grauman 102 160 0 25 Jan 2022
Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Sounds Abdelrahman Younes Daniel Honerkamp Tim Welschehold Abhinav Valada 73 41 0 29 Nov 2021
Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI Santhosh Kumar Ramakrishnan Aaron Gokaslan Erik Wijmans Oleksandr Maksymets Alexander Clegg ... Andrew Westbury Angel X. Chang Manolis Savva Yili Zhao Dhruv Batra 87 392 0 16 Sep 2021
Habitat 2.0: Training Home Assistants to Rearrange their Habitat Andrew Szot Alexander Clegg Eric Undersander Erik Wijmans Yili Zhao ... Z. Kira V. Koltun Jitendra Malik Manolis Savva Dhruv Batra LM&Ro 109 526 0 28 Jun 2021
SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers Enze Xie Wenhai Wang Zhiding Yu Anima Anandkumar J. Álvarez Ping Luo ViT 316 5,065 0 31 May 2021
Auxiliary Tasks and Exploration Enable ObjectNav Joel Ye Dhruv Batra Abhishek Das Erik Wijmans 85 100 0 08 Apr 2021
MultiON: Benchmarking Semantic Map Memory using Multi-Object Navigation Saim Wani Shivansh Patel Unnat Jain Angel X. Chang Manolis Savva 90 107 0 07 Dec 2020
Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding Mike Roberts Jason Ramapuram Anurag Ranjan Atulit Kumar Miguel Angel Bautista Nathan Paczan Russ Webb Joshua M. Susskind 125 391 0 04 Nov 2020
Object Goal Navigation using Goal-Oriented Semantic Exploration Devendra Singh Chaplot Dhiraj Gandhi Abhinav Gupta Ruslan Salakhutdinov 94 523 0 01 Jul 2020
RoboTHOR: An Open Simulation-to-Real Embodied AI Platform Matt Deitke Winson Han Alvaro Herrasti Aniruddha Kembhavi Eric Kolve ... Eli VanderBilt Matthew Wallingford Luca Weihs Mark Yatskar Ali Farhadi LM&Ro 104 240 0 14 Apr 2020
Learning to Explore using Active Neural SLAM Devendra Singh Chaplot Dhiraj Gandhi Saurabh Gupta Abhinav Gupta Ruslan Salakhutdinov 62 516 0 10 Apr 2020
Evidential Deep Learning to Quantify Classification Uncertainty Murat Sensoy Lance M. Kaplan M. Kandemir OOD UQCV EDL BDL 185 1,002 0 05 Jun 2018
RedNet: Residual Encoder-Decoder Network for indoor RGB-D Semantic Segmentation Jindong Jiang Lunan Zheng Fei Luo Zhijun Zhang 3DPC SSeg 65 217 0 04 Jun 2018
AI2-THOR: An Interactive 3D Environment for Visual AI Eric Kolve Roozbeh Mottaghi Winson Han Eli VanderBilt Luca Weihs ... Daniel Gordon Yuke Zhu Aniruddha Kembhavi Abhinav Gupta Ali Farhadi LM&Ro 84 1,110 0 14 Dec 2017
On Calibration of Modern Neural Networks Chuan Guo Geoff Pleiss Yu Sun Kilian Q. Weinberger UQCV 299 5,862 0 14 Jun 2017
Mask R-CNN Kaiming He Georgia Gkioxari Piotr Dollár Ross B. Girshick ObjD 360 27,244 0 20 Mar 2017
Simple and Scalable Predictive Uncertainty Estimation using Deep Ensembles Balaji Lakshminarayanan Alexander Pritzel Charles Blundell UQCV BDL 842 5,841 0 05 Dec 2016
SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networks J. McCormac Ankur Handa Andrew J. Davison Stefan Leutenegger 3DPC 57 557 0 16 Sep 2016
Dropout as a Bayesian Approximation: Representing Model Uncertainty in Deep Learning Y. Gal Zoubin Ghahramani UQCV BDL 852 9,346 0 06 Jun 2015