相关论文: Reasoning about Cardinal Directions between 3-Dime…
Given a constraint satisfaction problem (CSP) on $n$ variables, $x_1, x_2, \dots, x_n \in \{\pm 1\}$, and $m$ constraints, a global cardinality constraint has the form of $\sum_{i = 1}^{n} x_i = (1-2p)n$, where $p \in (\Omega(1), 1 -…
The manipulation of articulated objects is of primary importance in Robotics, and can be considered as one of the most complex manipulation tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, which lack…
In this work, the relationship between a spin-glass three-dimensional (3D) Ising model with the lattice size N = mnl and the traveling salesman problem (TSP) in a 3D lattice is studied. In particular, the mathematical structures of the two…
Visual reasoning -- the ability to interpret the visual world -- is crucial for embodied agents that operate within three-dimensional scenes. Progress in AI has led to vision and language models capable of answering questions from images.…
3D task planning has attracted increasing attention in human-robot interaction and embodied AI thanks to the recent advances in multimodal learning. However, most existing studies are facing two common challenges: 1) heavy reliance on…
In Answer Set Programming (ASP), the user can define declaratively a problem and solve it with efficient solvers; practical applications of ASP are countless and several constraint problems have been successfully solved with ASP. On the…
Action selection policies (ASPs), used to compose low-level robot skills into complex high-level tasks are commonly represented as neural networks (NNs) in the state of the art. Such a paradigm, while very effective, suffers from a few key…
This paper lists some new directions for research related to the Algebra of Communicating Processes (ACP). Most of these directions have been inspired by work on SubScript, an ACP based extension to the programming language Scala. SubScript…
We present an explanation system for applications that leverage Answer Set Programming (ASP). Given a program P, an answer set A of P, and an atom a in the program P, our system generates all explanation graphs of a which help explain why a…
Semantic Communication (SC) is a novel paradigm for data transmission in 6G. However, there are several challenges posed when performing SC in 3D scenarios: 1) 3D semantic extraction; 2) Latent semantic redundancy; and 3) Uncertain channel…
Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…
One of our long term research goals is to develop systems to answer realistic questions (e.g., some mentioned in textbooks) about biological pathways that a biologist may ask. To answer such questions we need formalisms that can model…
Recent advances in Multi-modal Large Language Models (MLLMs) have showcased remarkable capabilities in vision-language understanding. However, enabling robust video spatial reasoning-the ability to comprehend object locations, orientations,…
Answer Set Programming (ASP) is a well-known problem solving approach based on nonmonotonic logic programs and efficient solvers. To enable access to external information, HEX-programs extend programs with external atoms, which allow for a…
Answer Set Programming (ASP) is a declarative problem solving paradigm that can be used to encode a combinatorial problem as a logic program whose stable models correspond to the solutions of the considered problem. ASP has been widely…
Large language models (LLMs) often suffer from hallucinations due to error accumulation in autoregressive decoding, where suboptimal early token choices misguide subsequent generation. Although multi-path decoding can improve robustness by…
With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…
The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a key capability for understanding spatial relationships between…
Understanding of spatial attributes is central to effective 3D radiology image analysis where crop-based learning is the de facto standard. Given an image patch, its core spatial properties (e.g., position & orientation) provide helpful…
Data plays an important role in applications, analytic processes, and many aspects of human activity. As data grows in size and complexity, we are met with an imperative need for tools that promote understanding and explanations over…