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Current video-based scene graph generation (VidSGG) methods have been found to perform poorly on predicting predicates that are less represented due to the inherent biased distribution in the training data. In this paper, we take a closer…

Reinforcement learning is essential for neural architecture search and hyperparameter optimization, but the conventional approaches impede widespread use due to prohibitive time and computational costs. Inspired by DeepSeek-V3 multi-token…

Recent years have seen a growing interest in Scene Graph Generation (SGG), a comprehensive visual scene understanding task that aims to predict entity relationships using a relation encoder-decoder pipeline stacked on top of an object…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a…

Scene graph generation (SGG) is designed to extract (subject, predicate, object) triplets in images. Recent works have made a steady progress on SGG, and provide useful tools for high-level vision and language understanding. However, due to…

Subgraph classification is an emerging field in graph representation learning where the task is to classify a group of nodes (i.e., a subgraph) within a graph. Subgraph classification has applications such as predicting the cellular…

Time series segmentation (TSS) is one of the time series (TS) analysis techniques, that has received considerably less attention compared to other TS related tasks. In recent years, deep learning architectures have been introduced for TSS,…

Weakly-supervised image segmentation has recently attracted increasing research attentions, aiming to avoid the expensive pixel-wise labeling. In this paper, we present an effective method, namely Point2Mask, to achieve high-quality…

While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…

Synthetic data is emerging as a promising solution to the scalability issue of supervised deep learning, especially when real data are difficult to acquire or hard to annotate. Synthetic data generation, however, can itself be prohibitively…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

Unsupervised panoptic segmentation aims to partition an image into semantically meaningful regions and distinct object instances without training on manually annotated data. In contrast to prior work on unsupervised panoptic scene…

Perspective-Aware AI requires modeling evolving internal states--goals, emotions, contexts--not merely preferences. Progress is limited by a data bottleneck: digital footprints are privacy-sensitive and perspective states are rarely…

Scene graph generation (SGG) is a sophisticated task that suffers from both complex visual features and dataset long-tail problem. Recently, various unbiased strategies have been proposed by designing novel loss functions and data balancing…

Scene Graph Generation (SGG) research has suffered from two fundamental challenges: the long-tailed predicate distribution and semantic ambiguity between predicates. These challenges lead to a bias towards head predicates in SGG models,…

The Scene Graph Generation (SGG) task aims to detect all the objects and their pairwise visual relationships in a given image. Although SGG has achieved remarkable progress over the last few years, almost all existing SGG models follow the…

Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex…

Scene graphs provide valuable information to many downstream tasks. Many scene graph generation (SGG) models solely use the limited annotated relation triples for training, leading to their underperformance on low-shot (few and zero)…