Related papers: SKG-VLA: Scene Knowledge Graph Priors for Structur…

The inability of autonomous vehicles (AVs) to infer the material properties of obstacles limits their decision-making capacity. While AVs rely on sensor systems such as cameras, LiDAR, and radar to detect obstacles, this study suggests…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

Schema matching is a critical task in data integration, particularly in the medical domain where disparate Electronic Health Record (EHR) systems must be aligned to standard models like OMOP CDM. While Large Language Models (LLMs) have…

While large language models (LLMs) have made considerable advancements in understanding and generating unstructured text, their application in structured data remains underexplored. Particularly, using LLMs for complex reasoning tasks on…

Knowledge graph reasoning (KGR), aiming to deduce new facts from existing facts based on mined logic rules underlying knowledge graphs (KGs), has become a fast-growing research direction. It has been proven to significantly benefit the…

Multimodal LLMs have advanced vision-language tasks but still struggle with understanding video scenes. To bridge this gap, Video Scene Graph Generation (VidSGG) has emerged to capture multi-object relationships across video frames.…

The purpose of this study is to introduce SKG-LLM. A knowledge graph (KG) is constructed from stroke-related articles using mathematical and large language models (LLMs). SKG-LLM extracts and organizes complex relationships from the…

Scene graph generation (SGG) aims to parse a visual scene into an intermediate graph representation for downstream reasoning tasks. Despite recent advancements, existing methods struggle to generate scene graphs with novel visual relation…

3D scene graph generation (SGG) has been of high interest in computer vision. Although the accuracy of 3D SGG on coarse classification and single relation label has been gradually improved, the performance of existing works is still far…

Robotic manipulation tasks, such as object rearrangement, play a crucial role in enabling robots to interact with complex and arbitrary environments. Existing work focuses primarily on single-level rearrangement planning and, even if…

In this work we present Knowledge Module Learning (KML) to understand and reason over procedural tasks that requires models to learn structured and compositional procedural knowledge. KML is a neurosymbolic framework that learns relation…

Multimodal knowledge graph link prediction aims to improve the accuracy and efficiency of link prediction tasks for multimodal data. However, for complex multimodal information and sparse training data, it is usually difficult to achieve…

Multi-modal knowledge graphs (MMKGs), which ground various non-symbolic data (e.g., images and videos) into symbols, have attracted attention as resources enabling knowledge processing and machine learning across modalities. However, the…

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…

The remarkable reasoning and generalization capabilities of Large Language Models (LLMs) have paved the way for their expanding applications in embodied AI, robotics, and other real-world tasks. To effectively support these applications,…

Existing Unbiased Scene Graph Generation (USGG) methods only focus on addressing the predicate-level imbalance that high-frequency classes dominate predictions of rare ones, while overlooking the concept-level imbalance. Actually, even if…

Visual dialog is a task of answering a sequence of questions grounded in an image using the previous dialog history as context. In this paper, we study how to address two fundamental challenges for this task: (1) reasoning over underlying…

One of the key issues of Visual Question Answering (VQA) is to reason with semantic clues in the visual content under the guidance of the question, how to model relational semantics still remains as a great challenge. To fully capture…

Real-world multimodal knowledge graphs (MKGs) are inherently heterogeneous, modeling entities that are associated with diverse modalities. Traditional knowledge graph embedding (KGE) methods excel at learning continuous representations of…

Robotic manipulation in open-world environments requires reasoning across semantics, geometry, and long-horizon action dynamics. Existing hierarchical Vision-Language-Action (VLA) frameworks typically use 2D representations to connect…