Related papers: Discovering Conceptual Knowledge with Analytic Ont…
Textual queries are largely employed in information retrieval to let users specify search goals in a natural way. However, differences in user and system terminologies can challenge the identification of the user's information needs, and…
When an autonomous robot learns how to execute actions, it is of interest to know if and when the execution policy can be generalised to variations of the learning scenarios. This can inform the robot about the necessity of additional…
Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…
The paper introduces the principles of object-oriented translation for target machine which provides executing the sequences of elementary operations on persistent data presented as a set of relations (programmable relational system). The…
Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…
The knowledge representation community has built general-purpose ontologies which contain large amounts of commonsense knowledge over relevant aspects of the world, including useful visual information, e.g.: "a ball is used by a football…
This paper presents the principles of ontology-supported and ontology-driven conceptual navigation. Conceptual navigation realizes the independence between resources and links to facilitate interoperability and reusability. An engine builds…
We build upon the functional object-oriented network (FOON), a structured knowledge representation which is constructed from observations of human activities and manipulations. A FOON can be used for representing object-motion affordances.…
Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds…
Object reconstruction is an important task in many fields of application as it allows to generate digital representations of our physical world used as base for analysis, planning, construction, visualization or other aims. A reconstruction…
Active Object Tracking (AOT) aims to maintain a specific relation between the tracker and object(s) by autonomously controlling the motion system of a tracker given observations. AOT has wide-ranging applications, such as in mobile robots…
Understanding and manipulating concrete and abstract concepts is fundamental to human intelligence. Yet, they remain challenging for artificial agents. This paper introduces a multimodal generative approach to high order abstract concept…
Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…
Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of…
Human knowledge is made up of the conceptual structures of many communities of interest. In order to establish coherence in human knowledge representation, it is important to enable communication between the conceptual structures of…
People often use physical intuition when manipulating articulated objects, irrespective of object semantics. Motivated by this observation, we identify an important embodied task where an agent must play with objects to recover their parts.…
OTTR is a language for representing ontology modeling patterns, which enables to build ontologies or knowledge bases by instantiating templates. Thereby, particularities of the ontological representation language are hidden from the domain…
The ability to recognize, localize and track dynamic objects in a scene is fundamental to many real-world applications, such as self-driving and robotic systems. Yet, traditional multiple object tracking (MOT) benchmarks rely only on a few…
Ontologies represent the conceptual knowledge of a domain. At the core of an ontology is the taxonomy of concepts and subconcepts that represent specific entities, which can be complex to build. In many cases, information is available in…
We introduce One-shot Open Affordance Learning (OOAL), where a model is trained with just one example per base object category, but is expected to identify novel objects and affordances. While vision-language models excel at recognizing…