相关论文: Generalization to Novel Objects using Prior Relati…

Reasoning about object affordances allows an autonomous agent to perform generalised manipulation tasks among object instances. While current approaches to grasp affordance estimation are effective, they are limited to a single hypothesis.…

Learning to cooperate is crucially important in multi-agent environments. The key is to understand the mutual interplay between agents. However, multi-agent environments are highly dynamic, where agents keep moving and their neighbors…

When training data is scarce, the incorporation of additional prior knowledge can assist the learning process. While it is common to initialize neural networks with weights that have been pre-trained on other large data sets, pre-training…

In recent years, there has been a resurgence in methods that use distributed (neural) representations to represent and reason about semantic knowledge for robotics applications. However, while robots often observe previously unknown…

We investigate the problem of producing structured graph representations of visual scenes. Our work analyzes the role of motifs: regularly appearing substructures in scene graphs. We present new quantitative insights on such repeated…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Learning to navigate in a visual environment following natural-language instructions is a challenging task, because the multimodal inputs to the agent are highly variable, and the training data on a new task is often limited. In this paper,…

Many applications require an understanding of an image that goes beyond the simple detection and classification of its objects. In particular, a great deal of semantic information is carried in the relationships between objects. We have…

Recently, Graph Neural Networks (GNNs) have proven their effectiveness for recommender systems. Existing studies have applied GNNs to capture collaborative relations in the data. However, in real-world scenarios, the relations in a…

Recent findings in neuroscience suggest that the human brain represents information in a geometric structure (for instance, through conceptual spaces). In order to communicate, we flatten the complex representation of entities and their…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…

Identifying objects in an image and their mutual relationships as a scene graph leads to a deep understanding of image content. Despite the recent advancement in deep learning, the detection and labeling of visual object relationships…

Understanding a visual scene goes beyond recognizing individual objects in isolation. Relationships between objects also constitute rich semantic information about the scene. In this work, we explicitly model the objects and their…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

Reasoning, the ability to logically draw conclusions from existing knowledge, is a hallmark of human. Together with perception, they constitute the two major themes of artificial intelligence. While deep learning has pushed the limit of…

Extracting structured knowledge from texts has traditionally been used for knowledge base generation. However, other sources of information, such as images can be leveraged into this process to build more complete and richer knowledge…

Reinforcement learning agents usually learn from scratch, which requires a large number of interactions with the environment. This is quite different from the learning process of human. When faced with a new task, human naturally have the…

Generalisation to unseen contexts remains a challenge for embodied navigation agents. In the context of semantic audio-visual navigation (SAVi) tasks, the notion of generalisation should include both generalising to unseen indoor visual…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…