Related papers: Online Semantic Exploration of Indoor Maps

In this paper, we consider a simple class of stratified spaces -- 2-complexes. We present an algorithm that learns the abstract structure of an embedded 2-complex from a point cloud sampled from it. We use tools and inspiration from…

We study the problem of generating abstractive summaries for opinionated text. We propose an attention-based neural network model that is able to absorb information from multiple text units to construct informative, concise, and fluent…

This article presents a survey of work on lifted graphical models. We review a general form for a lifted graphical model, a par-factor graph, and show how a number of existing statistical relational representations map to this formalism. We…

The paper introduces a generalization for known probabilistic models such as log-linear and graphical models, called here multiplicative models. These models, that express probabilities via product of parameters are shown to capture…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

This paper presents a Bayesian model for unsupervised learning of verb selectional preferences. For each verb the model creates a Bayesian network whose architecture is determined by the lexical hierarchy of Wordnet and whose parameters are…

An important open question in AI is what simple and natural principle enables a machine to reason logically for meaningful abstraction with grounded symbols. This paper explores a conceptually new approach to combining probabilistic…

Sampling-based algorithms solve the path planning problem by generating random samples in the search-space and incrementally growing a connectivity graph or a tree. Conventionally, the sampling strategy used in these algorithms is biased…

This paper proposes a programmable relation extraction method for the English language by parsing texts into semantic graphs. A person can define rules in plain English that act as matching patterns onto the graph representation. These…

The task of room layout estimation is to locate the wall-floor, wall-ceiling, and wall-wall boundaries. Most recent methods solve this problem based on edge/keypoint detection or semantic segmentation. However, these approaches have shown…

The Artificial Intelligence field is flooded with optimisation methods. In this paper, we change the focus to developing modelling methods with the aim of getting us closer to Artificial General Intelligence. To do so, we propose a novel…

Priors are vital for planning under partial observability, yet difficult to obtain in practice. We present a sampling-based pipeline that leverages large-scale pretrained generative models to produce probabilistic priors capturing…

Regression for spatially dependent outcomes poses many challenges, for inference and for computation. Non-spatial models and traditional spatial mixed-effects models each have their advantages and disadvantages, making it difficult for…

Abstraction is a fundamental tool for reasoning about complex systems. Program abstraction has been utilized to great effect for analyzing deterministic programs. At the heart of program abstraction is the relationship between a concrete…

Multivariate spatial fields are of interest in many applications, including climate model emulation. Not only can the marginal spatial fields be subject to nonstationarity, but the dependence structure among the marginal fields and between…

This paper discusses the problem of abstracting conditional probabilistic actions. We identify two distinct types of abstraction: intra-action abstraction and inter-action abstraction. We define what it means for the abstraction of an…

We present Gradient Activation Maps (GAM) - a machinery for explaining predictions made by visual similarity and classification models. By gleaning localized gradient and activation information from multiple network layers, GAM offers…

A common technique to verify complex logic specifications for dynamical systems is the construction of symbolic abstractions: simpler, finite-state models whose behaviour mimics the one of the systems of interest. Typically, abstractions…

Image captioning is a widely known problem in the area of AI. Caption generation from floor plan images has applications in indoor path planning, real estate, and providing architectural solutions. Several methods have been explored in…

Creating maps is an essential task in robotics and provides the basis for effective planning and navigation. In this paper, we learn a compact and continuous implicit surface map of an environment from a stream of range data with known…