Related papers: GeoGraph: Learning graph-based multi-view object d…
Discovering object-centric representations from images can significantly enhance the robustness, sample efficiency and generalizability of vision models. Works on images with multi-part objects typically follow an implicit object…
Existing methods for video-based person re-identification (ReID) mainly learn the appearance feature of a given pedestrian via a feature extractor and a feature aggregator. However, the appearance models would fail when different…
Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…
Graph neural networks (GNNs) have received massive attention in the field of machine learning on graphs. Inspired by the success of neural networks, a line of research has been conducted to train GNNs to deal with various tasks, such as…
Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…
Graph neural networks (GNNs) have emerged as a versatile and efficient option for modeling the dynamic behavior of deformable materials. While GNNs generalize readily to arbitrary shapes, mesh topologies, and material parameters, existing…
This paper addresses the task of detecting and recognizing human-object interactions (HOI) in images and videos. We introduce the Graph Parsing Neural Network (GPNN), a framework that incorporates structural knowledge while being…
Grasping user-specified objects is crucial for robotic assistants; however, most current 6-DoF grasp detection methods are object-agnostic, making it challenging to grasp specific targets from a scene. To achieve that, we present GoalGrasp,…
Devising and analyzing learning models for spatiotemporal network data is of importance for tasks including forecasting, anomaly detection, and multi-agent coordination, among others. Graph Convolutional Neural Networks (GCNNs) are an…
Over many decades, researchers working in object recognition have longed for an end-to-end automated system that will simply accept 2D or 3D image or videos as inputs and output the labels of objects in the input data. Computer vision…
We study the problem of end-to-end learning from complex multigraphs with potentially very large numbers of edges between two vertices, each edge labeled with rich information. Examples range from communication networks to flights between…
2D image understanding is a complex problem within computer vision, but it holds the key to providing human-level scene comprehension. It goes further than identifying the objects in an image, and instead, it attempts to understand the…
Graph Neural Networks (GNNs) have emerged as a powerful approach for graph-based machine learning tasks. Previous work applied GNNs to image-derived graph representations for various downstream tasks such as classification or anomaly…
Graph neural networks (GNNs) emerge as a powerful family of representation learning models on graphs. To derive node representations, they utilize a global model that recursively aggregates information from the neighboring nodes. However,…
Conventional image retrieval techniques for Structure-from-Motion (SfM) suffer from the limit of effectively recognizing repetitive patterns and cannot guarantee to create just enough match pairs with high precision and high recall. In this…
The first provably efficient algorithm for learning graph neural networks (GNNs) with one hidden layer for node information convolution is provided in this paper. Two types of GNNs are investigated, depending on whether labels are attached…
Visual Place Recognition is a task that aims to predict the place of an image (called query) based solely on its visual features. This is typically done through image retrieval, where the query is matched to the most similar images from a…
Locating discriminative parts plays a key role in fine-grained visual classification due to the high similarities between different objects. Recent works based on convolutional neural networks utilize the feature maps taken from the last…
Most modern multi-object tracking (MOT) systems follow the tracking-by-detection paradigm. It first localizes the objects of interest, then extracting their individual appearance features to make data association. The individual features,…
Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…