Audio-Visual Grounding Referring Expression for Robotic Manipulation

Abstract

Referring expressions are commonly used when referring to a specific target in people's daily dialogue. In this paper, we develop a novel task of audio-visual grounding referring expression for robotic manipulation. The robot leverages both the audio and visual information to understand the referring expression in the given manipulation instruction and the corresponding manipulations are implemented. To solve the proposed task, an audio-visual framework is proposed for visual localization and sound recognition. We have also established a dataset which contains visual data, auditory data and manipulation instructions for evaluation. Finally, extensive experiments are conducted both offline and online to verify the effectiveness of the proposed audio-visual framework. And it is demonstrated that the robot performs better with the audiovisual data than with only the visual data.

Robotic Grasping from Classical to Modern: A Survey

“…[39] modeled a shared space for visual attributes and linguistic concepts, and grounded objects by similarities. Besides visual-linguistic inputs, [245] introduced additional audio information of objects to finish grounding, since sometimes only visual information is not sufficient (e.g. an opaque bottle with different substances in it).…”