Switching Head-Tail Funnel UNITER for Dual Referring Expression Comprehension with Fetch-and-Carry Tasks
Ryosuke Korekata,Motonari Kambara,Yu Yoshida,Shintaro Ishikawa,Yosuke Kawasaki,Masaki Takahashi,Komei Sugiura,Ryosuke Korekata,Motonari Kambara,Yu Yoshida,Shintaro Ishikawa,Yosuke Kawasaki,Masaki Takahashi,Komei Sugiura
This paper describes a domestic service robot (DSR) that fetches everyday objects and carries them to specified destinations according to free-form natural language instructions. Given an instruction such as “Move the bottle on the left side of the plate to the empty chair,” the DSR is expected to identify the bottle and the chair from multiple candidates in the environment and carry the target ob...
