相关论文: Neural Task Planning with And-Or Graph Representat…

This paper aims at task-oriented action prediction, i.e., predicting a sequence of actions towards accomplishing a specific task under a certain scene, which is a new problem in computer vision research. The main challenges lie in how to…

In this paper, we present an approach for integrated task and motion planning based on an AND/OR graph network, which is used to represent task-level states and actions, and we leverage it to implement different classes of task and motion…

By taking the semantic object parsing task as an exemplar application scenario, we propose the Graph Long Short-Term Memory (Graph LSTM) network, which is the generalization of LSTM from sequential data or multi-dimensional data to general…

Recent advances in metric, semantic, and topological mapping have equipped autonomous robots with semantic concept grounding capabilities to interpret natural language tasks. This work aims to leverage these new capabilities with an…

Learning to solve diagrammatic reasoning (DR) can be a challenging but interesting problem to the computer vision research community. It is believed that next generation pattern recognition applications should be able to simulate human…

Network Traffic Matrix (TM) prediction is defined as the problem of estimating future network traffic from the previous and achieved network traffic data. It is widely used in network planning, resource management and network security. Long…

In robotic task planning, symbolic planners using rule-based representations like PDDL are effective but struggle with long-sequential tasks in complicated environments due to exponentially increasing search space. Meanwhile, LLM-based…

This paper presents a novel method to predict future human activities from partially observed RGB-D videos. Human activity prediction is generally difficult due to its non-Markovian property and the rich context between human and…

Large Language Models (LLMs) have shown promise as robotic planners but often struggle with long-horizon and complex tasks, especially in specialized environments requiring external knowledge. While hierarchical planning and…

Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…

Given a convolutional neural network (CNN) that is pre-trained for object classification, this paper proposes to use active question-answering to semanticize neural patterns in conv-layers of the CNN and mine part concepts. For each part…

Scene graph generation (SGG) endeavors to predict visual relationships between pairs of objects within an image. Prevailing SGG methods traditionally assume a one-off learning process for SGG. This conventional paradigm may necessitate…

Deploying autonomous robots that can learn new skills from demonstrations is an important challenge of modern robotics. Existing solutions often apply end-to-end imitation learning with Vision-Language Action (VLA) models or symbolic…

Given video demonstrations and paired narrations of an at-home procedural task such as changing a tire, we present an approach to extract the underlying task structure -- relevant actions and their temporal dependencies -- via…

In the field of Automated Planning and Scheduling (APS), intelligent agents by virtue require an action model (blueprints of actions whose interleaved executions effectuates transitions of the system state) in order to plan and solve real…

In recent years, developing AI for robotics has raised much attention. The interaction of vision and language of robots is particularly difficult. We consider that giving robots an understanding of visual semantics and language semantics…

Traditional robot task planning methods face challenges when dealing with highly unstructured environments and complex tasks. We propose a task planning method that combines human expertise with an LLM and have designed an LLM prompt…

In this paper, we propose a deep convolutional recurrent neural network that predicts action sequences for task and motion planning (TAMP) from an initial scene image. Typical TAMP problems are formalized by combining reasoning on a…

We propose a novel supervised learning technique for summarizing videos by automatically selecting keyframes or key subshots. Casting the problem as a structured prediction problem on sequential data, our main idea is to use Long Short-Term…

The problem of AMR-to-text generation is to recover a text representing the same meaning as an input AMR graph. The current state-of-the-art method uses a sequence-to-sequence model, leveraging LSTM for encoding a linearized AMR structure.…