相关论文: Deep Visual Reasoning: Learning to Predict Action …

Solving complex manipulation tasks in household and factory settings remains challenging due to long-horizon reasoning, fine-grained interactions, and broad object and scene diversity. Learning skills from demonstrations can be an effective…

Applying convolutional neural networks to large images is computationally expensive because the amount of computation scales linearly with the number of image pixels. We present a novel recurrent neural network model that is capable of…

Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…

In this paper, we introduce a multi-robot system that integrates mapping, localization, and task and motion planning (TAMP) enabled by 3D scene graphs to execute complex instructions expressed in natural language. Our system builds a shared…

The apparent ``black box'' nature of neural networks is a barrier to adoption in applications where explainability is essential. This paper presents TAME (Trainable Attention Mechanism for Explanations), a method for generating explanation…

We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…

Manipulation tasks such as preparing a meal or assembling furniture remain highly challenging for robotics and vision. Traditional task and motion planning (TAMP) methods can solve complex tasks but require full state observability and are…

Homography estimation is an important step in many computer vision problems. Recently, deep neural network methods have shown to be favorable for this problem when compared to traditional methods. However, these new methods do not consider…

Large-scale, pre-trained neural networks have demonstrated strong capabilities in various tasks, including zero-shot image segmentation. To identify concrete objects in complex scenes, humans instinctively rely on deictic descriptions in…

Understanding continuous human actions is a non-trivial but important problem in computer vision. Although there exists a large corpus of work in the recognition of action sequences, most approaches suffer from problems relating to vast…

Semantic segmentation of motion capture sequences plays a key part in many data-driven motion synthesis frameworks. It is a preprocessing step in which long recordings of motion capture sequences are partitioned into smaller segments.…

Many real-world sequential manipulation tasks involve a combination of discrete symbolic search and continuous motion planning, collectively known as combined task and motion planning (TAMP). However, prevailing methods often struggle with…

Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term…

Recently, deep learning approach has achieved promising results in various fields of computer vision. In this paper, a new framework called Hierarchical Depth Motion Maps (HDMM) + 3 Channel Deep Convolutional Neural Networks (3ConvNets) is…

Deep convolutional neural networks (CNNs) have shown excellent performance in object recognition tasks and dense classification problems such as semantic segmentation. However, training deep neural networks on large and sparse datasets is…

Convolutional neural networks are the way to solve arbitrary image segmentation tasks. However, when images are large, memory demands often exceed the available resources, in particular on a common GPU. Especially in biomedical imaging,…

A robot deployed in a home over long stretches of time faces a true lifelong learning problem. As it seeks to provide assistance to its users, the robot should leverage any accumulated experience to improve its own knowledge and…

Applying image processing algorithms independently to each frame of a video often leads to undesired inconsistent results over time. Developing temporally consistent video-based extensions, however, requires domain knowledge for individual…

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…

Scene parsing is an important and challenging prob- lem in computer vision. It requires labeling each pixel in an image with the category it belongs to. Tradition- ally, it has been approached with hand-engineered features from color…