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We consider the problem of Embodied Question Answering (EQA), which refers to settings where an embodied agent such as a robot needs to actively explore an environment to gather information until it is confident about the answer to a question.
A frontier-based approach for autonomous exploration
Brian Yamauchi · 1997
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Algorithmic Learning in a Random World , volume 29
Vladimir Vovk, Alexander Gammerman, and Glenn Shafer · 2005
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KinectFusion: Real-time dense surface mapping and tracking
Richard A Newcombe, Shahram Izadi, Otmar Hilliges, David Molyneaux, David Kim, Andrew J Davison, Pushmeet Kohi, Jamie Shotton, Steve Hodges, and Andrew Fitzgibbon · 2011
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Fetch and freight: Standard platforms for service robot applications
Melonee Wise, Michael Ferguson, Derek King, Eric Diehr, and David Dymesich · 2016
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Robot navigation via spatial and temporal coherent semantic maps
Ioannis Kostavelis, Konstantinos Charalampous, Antonios Gasteratos, and John K Tsotsos · 2016
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3DMatch: Learning local geometric descriptors from rgb-d reconstructions
Andy Zeng, Shuran Song, Matthias Nießner, Matthew Fisher, Jianxiong Xiao, and Thomas Funkhouser · 2017
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Iqa: Visual question answering in interactive environments
Daniel Gordon, Aniruddha Kembhavi, Mohammad Rastegari, Joseph Redmon, Dieter Fox, and Ali Farhadi · 2018
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Multi-target embodied question answering
Licheng Yu, Xinlei Chen, Georgia Gkioxari, Mohit Bansal, Tamara L Berg, and Dhruv Batra · 2019
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Embodied question answering in photorealistic environments with point cloud perception
Erik Wijmans, Samyak Datta, Oleksandr Maksymets, Abhishek Das, Georgia Gkioxari, Stefan Lee, Irfan Essa, Devi Parikh, and Dhruv Batra · 2019
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Tossingbot: Learning to throw arbitrary objects with residual physics
Andy Zeng, Shuran Song, Johnny Lee, Alberto Rodriguez, and Thomas Funkhouser · 2020
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Habitat-Matterport 3D dataset (HM3D): 1000 large-scale 3D environments for embodied AI
Santhosh K Ramakrishnan, Aaron Gokaslan, Erik Wijmans, Oleksandr Maksymets, Alex Clegg, John Turner, Eric Undersander, Wojciech Galuba, Andrew Westbury, Angel X Chang, et al · 2021
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Seal: Self-supervised embodied active learning using exploration and 3D consistency
Devendra Singh Chaplot, Murtaza Dalal, Saurabh Gupta, Jitendra Malik, and Russ R Salakhutdinov · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Open-vocabulary object detection via vision and language knowledge distillation
Xiuye Gu, Tsung-Yi Lin, Weicheng Kuo, and Yin Cui · 2021
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Habitat 2.0: Training home assistants to rearrange their habitat
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, and Dhruv Batra · 2021
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Language models (mostly) know what they know
Saurav Kadavath, Tom Conerly, Amanda Askell, Tom Henighan, Dawn Drain, Ethan Perez, Nicholas Schiefer, Zac Hatfield-Dodds, Nova DasSarma, Eli Tran-Johnson, et al · 2022
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SQA3D: Situated question answering in 3D scenes
Xiaojian Ma, Silong Yong, Zilong Zheng, Qing Li, Yitao Liang, Song-Chun Zhu, and Siyuan Huang · 2022
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Vibus: Data-efficient 3d scene parsing with viewpoint bottleneck and uncertainty-spectrum modeling
Beiwen Tian, Liyi Luo, Hao Zhao, and Guyue Zhou · 2022
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Clip-fields: Weakly supervised semantic fields for robotic memory
Nur Muhammad Mahi Shafiullah, Chris Paxton, Lerrel Pinto, Soumith Chintala, and Arthur Szlam · 2022
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Reducing conversational agents’ overconfidence through linguistic calibration
Sabrina J Mielke, Arthur Szlam, Emily Dinan, and Y-Lan Boureau · 2022
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Clip on wheels: Zero-shot object navigation as object localization and exploration
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, and Shuran Song · 2022
Cited alongside, same era.
Semantic abstraction: Open-world 3D scene understanding from 2D vision-language models
Huy Ha and Shuran Song · 2022
RT-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Navigation with large language models: Semantic guesswork as a heuristic for planning
Dhruv Shah, Michael Robert Equi, Błażej Osiński, Fei Xia, Brian Ichter, and Sergey Levine · 2023
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Unsupervised road anomaly detection with language anchors
Beiwen Tian, Mingdao Liu, Huan-ang Gao, Pengfei Li, Hao Zhao, and Guyue Zhou · 2023
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Think, act, and ask: Open-world interactive personalized robot navigation
Yinpei Dai, Run Peng, Sikai Li, and Joyce Chai · 2023
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When and why vision-language models behave like bags-of-words, and what to do about it?
Mert Yuksekgonul, Federico Bianchi, Pratyusha Kalluri, Dan Jurafsky, and James Zou · 2022
Cited alongside, same era.
Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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Junnan Li, Dongxu Li, Silvio Savarese, and Steven Hoi · 2023
Cited alongside, same era.
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Cited alongside, same era.
Toward grounded social reasoning
Minae Kwon, Hengyuan Hu, Vivek Myers, Siddharth Karamcheti, Anca Dragan, and Dorsa Sadigh · 2023
Cited alongside, same era.
Robots that ask for help: Uncertainty alignment for large language model planners
Allen Z Ren, Anushri Dixit, Alexandra Bodrova, Sumeet Singh, Stephen Tu, Noah Brown, Peng Xu, Leila Takayama, Fei Xia, Jake Varley, et al · 2023
Cited alongside, same era.
On the road with GPT-4V (ision): Early explorations of visual-language model on autonomous driving
Licheng Wen, Xuemeng Yang, Daocheng Fu, Xiaofeng Wang, Pinlong Cai, Xin Li, Tao Ma, Yingxuan Li, Linran Xu, Dengke Shang, et al · 2023
Cited alongside, same era.
Krishna Murthy Jatavallabhula, Alihusein Kuwajerwala, Qiao Gu, Mohd Omama, Tao Chen, Shuang Li, Ganesh Iyer, Soroush Saryazdi, Nikhil Keetha, Ayush Tewari, et al · 2023
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Conceptgraphs: Open-vocabulary 3d scene graphs for perception and planning
Qiao Gu, Alihusein Kuwajerwala, Sacha Morin, Krishna Murthy Jatavallabhula, Bipasha Sen, Aditya Agarwal, Corban Rivera, William Paul, Kirsty Ellis, Rama Chellappa, et al · 2023
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Cows on pasture: Baselines and benchmarks for language-driven zero-shot object navigation
Samir Yitzhak Gadre, Mitchell Wortsman, Gabriel Ilharco, Ludwig Schmidt, and Shuran Song · 2023
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Esc: Exploration with soft commonsense constraints for zero-shot object navigation
Kaiwen Zhou, Kaizhi Zheng, Connor Pryor, Yilin Shen, Hongxia Jin, Lise Getoor, and Xin Eric Wang · 2023
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Vlfm: Vision-language frontier maps for zero-shot semantic navigation
Naoki Yokoyama, Sehoon Ha, Dhruv Batra, Jiuguang Wang, and Bernadette Bucher · 2023
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Conformal prediction for stl runtime verification
Lars Lindemann, Xin Qin, Jyotirmoy V Deshmukh, and George J Pappas · 2023
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Adaptive conformal prediction for motion planning among dynamic agents
Anushri Dixit, Lars Lindemann, Skylar X Wei, Matthew Cleaveland, George J. Pappas, and Joel W. Burdick · 2023
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Conformal prediction: A gentle introduction
Anastasios N Angelopoulos, Stephen Bates, et al · 2023
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Spatialvlm: Endowing vision-language models with spatial reasoning capabilities
Boyuan Chen, Zhuo Xu, Sean Kirmani, Brian Ichter, Danny Driess, Pete Florence, Dorsa Sadigh, Leonidas Guibas, and Fei Xia · 2024
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Pivot: Iterative visual prompting elicits actionable knowledge for vlms
Soroush Nasiriany, Fei Xia, Wenhao Yu, Ted Xiao, Jacky Liang, Ishita Dasgupta, Annie Xie, Danny Driess, Ayzaan Wahid, Zhuo Xu, et al · 2024
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Moka: Open-vocabulary robotic manipulation through mark-based visual prompting
Fangchen Liu, Kuan Fang, Pieter Abbeel, and Sergey Levine · 2024
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Prismatic vlms: Investigating the design space of visually-conditioned language models
Siddharth Karamcheti, Suraj Nair, Ashwin Balakrishna, Percy Liang, Thomas Kollar, and Dorsa Sadigh · 2024
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