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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…

Visual grounding is a ubiquitous building block in many vision-language tasks and yet remains challenging due to large variations in visual and linguistic features of grounding entities, strong context effect and the resulting semantic…

In this article, we propose a novel navigation framework that leverages a two layered graph representation of the environment for efficient large-scale exploration, while it integrates a novel uncertainty awareness scheme to handle dynamic…

Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…

In this work, we seek new insights into the underlying challenges of the Scene Graph Generation (SGG) task. Quantitative and qualitative analysis of the Visual Genome dataset implies -- 1) Ambiguity: even if inter-object relationship…

Generating realistic images from scene graphs asks neural networks to be able to reason about object relationships and compositionality. As a relatively new task, how to properly ensure the generated images comply with scene graphs or how…

This paper designs and implements an explainable recommendation model that integrates knowledge graphs with structure-aware attention mechanisms. The model is built on graph neural networks and incorporates a multi-hop neighbor aggregation…

Machine understanding of complex images is a key goal of artificial intelligence. One challenge underlying this task is that visual scenes contain multiple inter-related objects, and that global context plays an important role in…

A neighborhood graph, which represents the instances as vertices and their relations as weighted edges, is the basis of many semi-supervised and relational models for node labeling and link prediction. Most methods employ a sequential…

Accurate video understanding involves reasoning about the relationships between actors, objects and their environment, often over long temporal intervals. In this paper, we propose a message passing graph neural network that explicitly…

Recent advances in computer vision facilitate fully automatic extraction of object-centric relational representations from visual-inertial data. These state representations, dubbed 3D scene graphs, are a hierarchical decomposition of…

3D scene graph prediction is a task that aims to concurrently predict object classes and their relationships within a 3D environment. As these environments are primarily designed by and for humans, incorporating commonsense knowledge…

Scene graph generation (SGG) aims to automatically map an image into a semantic structural graph for better scene understanding. It has attracted significant attention for its ability to provide object and relation information, enabling…

To solve tasks in new environments involving objects unseen during training, agents must reason over prior information about those objects and their relations. We introduce the Prior Knowledge Graph network, an architecture for combining…

In this paper, we develop a new aligned vertex convolutional network model to learn multi-scale local-level vertex features for graph classification. Our idea is to transform the graphs of arbitrary sizes into fixed-sized aligned vertex…

Behavioral and semantic relationships play a vital role on intelligent self-driving vehicles and ADAS systems. Different from other research focused on trajectory, position, and bounding boxes, relationship data provides a human…

The significant progress on Generative Adversarial Networks (GANs) have made it possible to generate surprisingly realistic images for single object based on natural language descriptions. However, controlled generation of images for…

We consider learning based methods for visual localization that do not require the construction of explicit maps in the form of point clouds or voxels. The goal is to learn an implicit representation of the environment at a higher, more…

Modeling and designing urban building layouts is of significant interest in computer vision, computer graphics, and urban applications. A building layout consists of a set of buildings in city blocks defined by a network of roads. We…

Scene graph generation has received growing attention with the advancements in image understanding tasks such as object detection, attributes and relationship prediction,~\etc. However, existing datasets are biased in terms of object and…