相关论文: 3-D Scene Graph: A Sparse and Semantic Representat…

We propose a data-driven scene flow estimation algorithm exploiting the observation that many 3D scenes can be explained by a collection of agents moving as rigid bodies. At the core of our method lies a deep architecture able to reason at…

Active inference helps us simulate adaptive behavior and decision-making in biological and artificial agents. Building on our previous work exploring the relationship between active inference, well-being, resilience, and sustainability, we…

Behavioral and semantic relationships play a vital role on intelligent self-driving vehicles and ADAS systems. Different from other research focused on trajectory, position, and bounding boxes, relationship data provides a human…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

Generating realistic images from scene graphs asks neural networks to be able to reason about object relationships and compositionality. As a relatively new task, how to properly ensure the generated images comply with scene graphs or how…

In this paper, we present the design of a multimodal interaction framework for intelligent virtual agents in wearable mixed reality environments, especially for interactive applications at museums, botanical gardens, and similar places.…

While multi-agent interactions can be naturally modeled as a graph, the environment has traditionally been considered as a black box. We propose to create a shared agent-entity graph, where agents and environmental entities form vertices,…

Effective robotic autonomy in unknown environments demands proactive exploration and precise understanding of both geometry and semantics. In this paper, we propose ActiveSGM, an active semantic mapping framework designed to predict the…

Multi-agent trajectory generation is a core problem for autonomous driving and intelligent transportation systems. However, efficiently modeling the dynamic interactions between numerous road users and infrastructures in complex scenes…

This paper addresses the challenge of scaling Large Multimodal Models (LMMs) to expansive 3D environments. Solving this open problem is especially relevant for robot deployment in many first-responder scenarios, such as search-and-rescue…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

Enabling mobile robots to perform long-term tasks in dynamic real-world environments is a formidable challenge, especially when the environment changes frequently due to human-robot interactions or the robot's own actions. Traditional…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

The concept of function and affordance is a critical aspect of 3D scene understanding and supports task-oriented objectives. In this work, we develop a model that learns to structure and vary functional affordance across a 3D hierarchical…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

Reasoning about complex visual scenes involves perception of entities and their relations. Scene graphs provide a natural representation for reasoning tasks, by assigning labels to both entities (nodes) and relations (edges). Unfortunately,…

We estimate the radiance field of large-scale dynamic areas from multiple vehicle captures under varying environmental conditions. Previous works in this domain are either restricted to static environments, do not scale to more than a…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

In this paper, we present Retargetable AR, a novel AR framework that yields an AR experience that is aware of scene contexts set in various real environments, achieving natural interaction between the virtual and real worlds. To this end,…

A self-driving vehicle must understand its environment to determine the appropriate action. Traditional autonomy systems rely on object detection to find the agents in the scene. However, object detection assumes a discrete set of objects…