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Zero-Shot Object Goal Navigation (ZS-OGN) enables robots or agents to navigate toward objects of unseen categories without object-specific training. Traditional approaches often leverage categorical semantic information for navigation guidance, which struggles when only objects are partially observed or detailed and functional representations of the environment are lacking. To resolve the above two issues, we propose \textit{Geometric-part and Affordance Maps} (GAMap), a novel method that integrates object parts and affordance attributes as navigation guidance. Our method includes a multi-scale scoring approach to capture geometric-part and affordance attributes of objects at different scales. Comprehensive experiments conducted on HM3D and Gibson benchmark datasets demonstrate improvements in Success Rate and Success weighted by Path Length, underscoring the efficacy of our geometric-part and affordance-guided navigation approach in enhancing robot autonomy and versatility, without any additional object-specific training or fine-tuning with the semantics of unseen objects and/or the locomotions of the robot., Comment: 16 pages, 8 figures, 7 tables

We introduce an innovative approach to advancing semantic understanding in zero-shot object goal navigation (ZS-OGN), enhancing the autonomy of robots in unfamiliar environments. Traditional reliance on labeled data has been a limitation for robotic adaptability, which we address by employing a dual-component framework that integrates a GLIP Vision Language Model for initial detection and an InstructionBLIP model for validation. This combination not only refines object and environmental recognition but also fortifies the semantic interpretation, pivotal for navigational decision-making. Our method, rigorously tested in both simulated and real-world settings, exhibits marked improvements in navigation precision and reliability., Comment: 16 pages, 7 figures, 2 tables

In this paper, we present a novel method for reliable frontier selection in Zero-Shot Object Goal Navigation (ZS-OGN), enhancing robotic navigation systems with foundation models to improve commonsense reasoning in indoor environments. Our approach introduces a multi-expert decision framework to address the nonsensical or irrelevant reasoning often seen in foundation model-based systems. The method comprises two key components: Diversified Expert Frontier Analysis (DEFA) and Consensus Decision Making (CDM). DEFA utilizes three expert models: furniture arrangement, room type analysis, and visual scene reasoning, while CDM aggregates their outputs, prioritizing unanimous or majority consensus for more reliable decisions. Demonstrating state-of-the-art performance on the RoboTHOR and HM3D datasets, our method excels at navigating towards untrained objects or goals and outperforms various baselines, showcasing its adaptability to dynamic real-world conditions and superior generalization capabilities., Comment: 17 pages, 5 figures, 3 tables

Object navigation is crucial for robots, but traditional methods require substantial training data and cannot be generalized to unknown environments. Zero-shot object navigation (ZSON) aims to address this challenge, allowing robots to interact with unknown objects without specific training data. Language-driven zero-shot object navigation (L-ZSON) is an extension of ZSON that incorporates natural language instructions to guide robot navigation and interaction with objects. In this paper, we propose a novel Vision Language model with a Tree-of-thought Network (VLTNet) for L-ZSON. VLTNet comprises four main modules: vision language model understanding, semantic mapping, tree-of-thought reasoning and exploration, and goal identification. Among these modules, Tree-of-Thought (ToT) reasoning and exploration module serves as a core component, innovatively using the ToT reasoning framework for navigation frontier selection during robot exploration. Compared to conventional frontier selection without reasoning, navigation using ToT reasoning involves multi-path reasoning processes and backtracking when necessary, enabling globally informed decision-making with higher accuracy. Experimental results on PASTURE and RoboTHOR benchmarks demonstrate the outstanding performance of our model in LZSON, particularly in scenarios involving complex natural language as target instructions., Comment: Accepted by the International Conference on Pattern Recognition (ICPR) for Oral presentation

LLMs have shown promising results in task planning due to their strong natural language understanding and reasoning capabilities. However, issues such as hallucinations, ambiguities in human instructions, environmental constraints, and limitations in the executing agent's capabilities often lead to flawed or incomplete plans. This paper proposes MultiTalk, an LLM-based task planning methodology that addresses these issues through a framework of introspective and extrospective dialogue loops. This approach helps ground generated plans in the context of the environment and the agent's capabilities, while also resolving uncertainties and ambiguities in the given task. These loops are enabled by specialized systems designed to extract and predict task-specific states, and flag mismatches or misalignments among the human user, the LLM agent, and the environment. Effective feedback pathways between these systems and the LLM planner foster meaningful dialogue. The efficacy of this methodology is demonstrated through its application to robotic manipulation tasks. Experiments and ablations highlight the robustness and reliability of our method, and comparisons with baselines further illustrate the superiority of MultiTalk in task planning for embodied agents., Comment: 7 pages, 3 figures

Fairness is a critical concern in deep learning, especially in healthcare, where these models influence diagnoses and treatment decisions. Although fairness has been investigated in the vision-only domain, the fairness of medical vision-language (VL) models remains unexplored due to the scarcity of medical VL datasets for studying fairness. To bridge this research gap, we introduce the first fair vision-language medical dataset Harvard-FairVLMed that provides detailed demographic attributes, ground-truth labels, and clinical notes to facilitate an in-depth examination of fairness within VL foundation models. Using Harvard-FairVLMed, we conduct a comprehensive fairness analysis of two widely-used VL models (CLIP and BLIP2), pre-trained on both natural and medical domains, across four different protected attributes. Our results highlight significant biases in all VL models, with Asian, Male, Non-Hispanic, and Spanish being the preferred subgroups across the protected attributes of race, gender, ethnicity, and language, respectively. In order to alleviate these biases, we propose FairCLIP, an optimal-transport-based approach that achieves a favorable trade-off between performance and fairness by reducing the Sinkhorn distance between the overall sample distribution and the distributions corresponding to each demographic group. As the first VL dataset of its kind, Harvard-FairVLMed holds the potential to catalyze advancements in the development of machine learning models that are both ethically aware and clinically effective. Our dataset and code are available at https://ophai.hms.harvard.edu/datasets/harvard-fairvlmed10k., Comment: CVPR 2024

In the field of robotics and automation, navigation systems based on Large Language Models (LLMs) have recently shown impressive performance. However, the security aspects of these systems have received relatively less attention. This paper pioneers the exploration of vulnerabilities in LLM-based navigation models in urban outdoor environments, a critical area given the technology's widespread application in autonomous driving, logistics, and emergency services. Specifically, we introduce a novel Navigational Prompt Suffix (NPS) Attack that manipulates LLM-based navigation models by appending gradient-derived suffixes to the original navigational prompt, leading to incorrect actions. We conducted comprehensive experiments on an LLMs-based navigation model that employs various LLMs for reasoning. Our results, derived from the Touchdown and Map2Seq street-view datasets under both few-shot learning and fine-tuning configurations, demonstrate notable performance declines across three metrics in the face of both white-box and black-box attacks. These results highlight the generalizability and transferability of the NPS Attack, emphasizing the need for enhanced security in LLM-based navigation systems. As an initial countermeasure, we propose the Navigational Prompt Engineering (NPE) Defense strategy, concentrating on navigation-relevant keywords to reduce the impact of adversarial suffixes. While initial findings indicate that this strategy enhances navigational safety, there remains a critical need for the wider research community to develop stronger defense methods to effectively tackle the real-world challenges faced by these systems.

People with blindness and low vision (pBLV) encounter substantial challenges when it comes to comprehensive scene recognition and precise object identification in unfamiliar environments. Additionally, due to the vision loss, pBLV have difficulty in accessing and identifying potential tripping hazards on their own. In this paper, we present a pioneering approach that leverages a large vision-language model to enhance visual perception for pBLV, offering detailed and comprehensive descriptions of the surrounding environments and providing warnings about the potential risks. Our method begins by leveraging a large image tagging model (i.e., Recognize Anything (RAM)) to identify all common objects present in the captured images. The recognition results and user query are then integrated into a prompt, tailored specifically for pBLV using prompt engineering. By combining the prompt and input image, a large vision-language model (i.e., InstructBLIP) generates detailed and comprehensive descriptions of the environment and identifies potential risks in the environment by analyzing the environmental objects and scenes, relevant to the prompt. We evaluate our approach through experiments conducted on both indoor and outdoor datasets. Our results demonstrate that our method is able to recognize objects accurately and provide insightful descriptions and analysis of the environment for pBLV.

Sketch-based 3D shape retrieval (SBSR) is an important yet challenging task, which has drawn more and more attention in recent years. Existing approaches address the problem in a restricted setting, without appropriately simulating real application scenarios. To mimic the realistic setting, in this track, we adopt large-scale sketches drawn by amateurs of different levels of drawing skills, as well as a variety of 3D shapes including not only CAD models but also models scanned from real objects. We define two SBSR tasks and construct two benchmarks consisting of more than 46,000 CAD models, 1,700 realistic models, and 145,000 sketches in total. Four teams participated in this track and submitted 15 runs for the two tasks, evaluated by 7 commonly-adopted metrics. We hope that, the benchmarks, the comparative results, and the open-sourced evaluation code will foster future research in this direction among the 3D object retrieval community.

Learning robust 3D shape segmentation functions with deep neural networks has emerged as a powerful paradigm, offering promising performance in producing a consistent part segmentation of each 3D shape. Generalizing across 3D shape segmentation functions requires robust learning of priors over the respective function space and enables consistent part segmentation of shapes in presence of significant 3D structure variations. Existing generalization methods rely on extensive training of 3D shape segmentation functions on large-scale labeled datasets. In this paper, we proposed to formalize the learning of a 3D shape segmentation function space as a meta-learning problem, aiming to predict a 3D segmentation model that can be quickly adapted to new shapes with no or limited training data. More specifically, we define each task as unsupervised learning of shape-conditioned 3D segmentation function which takes as input points in 3D space and predicts the part-segment labels. The 3D segmentation function is trained by a self-supervised 3D shape reconstruction loss without the need for part labels. Also, we introduce an auxiliary deep neural network as a meta-learner which takes as input a 3D shape and predicts the prior over the respective 3D segmentation function space. We show in experiments that our meta-learning approach, denoted as Meta-3DSeg, leads to improvements on unsupervised 3D shape segmentation over the conventional designs of deep neural networks for 3D shape segmentation functions.

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we focus on predicting dense 3D motions in the from of 3D point clouds. To approach this problem, we propose a self-supervised approach that leverages the power of the deep neural network to learn a continuous flow function of 3D point clouds that can predict temporally consistent future motions and naturally bring out the correspondences among consecutive point clouds at the same time. More specifically, in our approach, to eliminate the unsolved and challenging process of defining a discrete point convolution on 3D point cloud sequences to encode spatial and temporal information, we introduce a learnable latent code to represent the temporal-aware shape descriptor which is optimized during model training. Moreover, a temporally consistent motion Morpher is proposed to learn a continuous flow field which deforms a 3D scan from the current frame to the next frame. We perform extensive experiments on D-FAUST, SCAPE and TOSCA benchmark data sets and the results demonstrate that our approach is capable of handling temporally inconsistent input and produces consistent future 3D motion while requiring no ground truth supervision., Comment: 8 pages, 7 figures

This paper deals with the problem of 3D tracking, i.e., to find dense correspondences in a sequence of time-varying 3D shapes. Despite deep learning approaches have achieved promising performance for pairwise dense 3D shapes matching, it is a great challenge to generalize those approaches for the tracking of 3D time-varying geometries. In this paper, we aim at handling the problem of 3D tracking, which provides the tracking of the consecutive frames of 3D shapes. We propose a novel unsupervised 3D shape registration framework named DeepTracking-Net, which uses the deep neural networks (DNNs) as auxiliary functions to produce spatially and temporally continuous displacement fields for 3D tracking of objects in a temporal order. Our key novelty is that we present a novel temporal-aware correspondence descriptor (TCD) that captures spatio-temporal essence from consecutive 3D point cloud frames. Specifically, our DeepTracking-Net starts with optimizing a randomly initialized latent TCD. The TCD is then decoded to regress a continuous flow (i.e. a displacement vector field) which assigns a motion vector to every point of time-varying 3D shapes. Our DeepTracking-Net jointly optimizes TCDs and DNNs' weights towards the minimization of an unsupervised alignment loss. Experiments on both simulated and real data sets demonstrate that our unsupervised DeepTracking-Net outperforms the current supervised state-of-the-art method. In addition, we prepare a new synthetic 3D data, named SynMotions, to the 3D tracking and recognition community., Comment: 16 pages, 6 figures