Related papers: Local-HDP: Interactive Open-Ended 3D Object Catego…

We propose a hierarchical architecture for efficiently computing high-quality solutions to structured mixed-integer programs (MIPs). To reduce computational effort, our approach decouples the original problem into a higher level problem and…

The question of how to determine the number of independent latent factors (topics) in mixture models such as Latent Dirichlet Allocation (LDA) is of great practical importance. In most applications, the exact number of topics is unknown,…

In latent Dirichlet allocation (LDA), topics are multinomial distributions over the entire vocabulary. However, the vocabulary usually contains many words that are not relevant in forming the topics. We adopt a variable selection method…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

Software is highly contextual. While there are cross-cutting `global' lessons, individual software projects exhibit many `local' properties. This data heterogeneity makes drawing local conclusions from global data dangerous. A key research…

Recent object detectors find instances while categorizing candidate regions. As each region is evaluated independently, the number of candidate regions from a detector is usually larger than the number of objects. Since the final goal of…

Traditional topic models such as Latent Dirichlet Allocation (LDA) have been widely used to uncover latent structures in text corpora, but they often struggle to integrate auxiliary information such as metadata, user attributes, or document…

Most existing approaches for visual localization either need a detailed 3D model of the environment or, in the case of learning-based methods, must be retrained for each new scene. This can either be very expensive or simply impossible for…

Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attracted many research. In recent years, there is a high…

Object detection plays a deep role in visual systems by identifying instances for downstream algorithms. In industrial scenarios, however, a slight change in manufacturing systems would lead to costly data re-collection and human annotation…

The classification of gigapixel histopathology images with deep multiple instance learning models has become a critical task in digital pathology and precision medicine. In this work, we propose a Transformer-based multiple instance…

Recent progress has been made in using attention based encoder-decoder framework for image and video captioning. Most existing decoders apply the attention mechanism to every generated word including both visual words (e.g., "gun" and…

Bayesian change-point detection, together with latent variable models, allows to perform segmentation over high-dimensional time-series. We assume that change-points lie on a lower-dimensional manifold where we aim to infer subsets of…

Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…

We present a novel object detection pipeline for localization and recognition in three dimensional environments. Our approach makes use of an RGB-D sensor and combines state-of-the-art techniques from the robotics and computer vision…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Object localization has been a crucial task in computer vision field. Methods of localizing objects in an image have been proposed based on the features of the attended pixels. Recently researchers have proposed methods to formulate object…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

Sudden changes in the dynamics of robotic tasks, such as contact with an object or the latching of a door, are often viewed as inconvenient discontinuities that make manipulation difficult. However, when these transitions are…

State-of-the-art object detection models are frequently trained offline using available datasets, such as ImageNet: large and overly diverse data that are unbalanced and hard to cluster semantically. This kind of training drops the object…