相关论文: Planning with Learned Object Importance in Large P…

We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…

Understanding and interacting with everyday physical scenes requires rich knowledge about the structure of the world, represented either implicitly in a value or policy function, or explicitly in a transition model. Here we introduce a new…

We consider a decluttering problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface and must be efficiently transported to a packing box using both single and multi-object…

Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of objects has been noted to be an important benchmark for AI…

The counting task, which plays a fundamental role in numerous applications (e.g., crowd counting, traffic statistics), aims to predict the number of objects with various densities. Existing object counting tasks are designed for a single…

As part of human core knowledge, the representation of objects is the building block of mental representation that supports high-level concepts and symbolic reasoning. While humans develop the ability of perceiving objects situated in 3D…

Recognizing precise geometrical configurations of groups of objects is a key capability of human spatial cognition, yet little studied in the deep learning literature so far. In particular, a fundamental problem is how a machine can learn…

Deep neural networks have become ubiquitous for applications related to visual recognition and language understanding tasks. However, it is often prohibitive to use typical neural networks on devices like mobile phones or smart watches…

In recent years, data-driven methods have shown great success for extracting information about the infrastructure in urban areas. These algorithms are usually trained on large datasets consisting of thousands or millions of labeled training…

This short review aims to make the reader familiar with state-of-the-art works relating to planning, scheduling and learning. First, we study state-of-the-art planning algorithms. We give a brief introduction of neural networks. Then we…

The current trend in object detection and localization is to learn predictions with high capacity deep neural networks trained on a very large amount of annotated data and using a high amount of processing power. In this work, we propose a…

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…

Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…

Graph Neural Networks (GNNs) are a powerful representational tool for solving problems on graph-structured inputs. In almost all cases so far, however, they have been applied to directly recovering a final solution from raw inputs, without…

Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…

Graph Neural Networks have emerged as a useful tool to learn on the data by applying additional constraints based on the graph structure. These graphs are often created with assumed intrinsic relations between the entities. In recent years,…

Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped…

Successful material selection is critical in designing and manufacturing products for design automation. Designers leverage their knowledge and experience to create high-quality designs by selecting the most appropriate materials through…

Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…

Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…