相关论文: Graph-based Cluttered Scene Generation and Interac…

Visual Commonsense Reasoning, which is regarded as one challenging task to pursue advanced visual scene comprehension, has been used to diagnose the reasoning ability of AI systems. However, reliable reasoning requires a good grasp of the…

Grasping in cluttered scenes remains highly challenging for dexterous hands due to the scarcity of data. To address this problem, we present a large-scale synthetic benchmark, encompassing 1319 objects, 8270 scenes, and 427 million grasps.…

Representing a scene and its constituent objects from raw sensory data is a core ability for enabling robots to interact with their environment. In this paper, we propose a novel approach for scene understanding, leveraging a hierarchical…

An efficient and reliable multi-agent decision-making system is highly demanded for the safe and efficient operation of connected autonomous vehicles in intelligent transportation systems. Current researches mainly focus on the Deep…

We study reinforcement learning (RL) for text-based games, which are interactive simulations in the context of natural language. While different methods have been developed to represent the environment information and language actions,…

Reinforcement learning requires interaction with an environment, which is expensive for robots. This constraint necessitates approaches that work with limited environmental interaction by maximizing the reuse of previous experiences. We…

This paper investigates the integration of graph neural networks (GNNs) with Qualitative Explainable Graphs (QXGs) for scene understanding in automated driving. Scene understanding is the basis for any further reactive or proactive…

Object detection, scene graph generation and region captioning, which are three scene understanding tasks at different semantic levels, are tied together: scene graphs are generated on top of objects detected in an image with their pairwise…

Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context…

Recent works have shown that Large Language Models (LLMs) can facilitate the grounding of instructions for robotic task planning. Despite this progress, most existing works have primarily focused on utilizing raw images to aid LLMs in…

We introduce a method to generate 3D scenes that are disentangled into their component objects. This disentanglement is unsupervised, relying only on the knowledge of a large pretrained text-to-image model. Our key insight is that objects…

Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering…

In multi-agent reinforcement learning (MARL), the integration of a communication mechanism, allowing agents to better learn to coordinate their actions and converge on their objectives by sharing information. Based on an interaction graph,…

Deep Reinforcement Learning (DRL) has shown a dramatic improvement in decision-making and automated control problems. Consequently, DRL represents a promising technique to efficiently solve many relevant optimization problems (e.g.,…

Understanding a scene by decoding the visual relationships depicted in an image has been a long studied problem. While the recent advances in deep learning and the usage of deep neural networks have achieved near human accuracy on many…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

Graph path search is a classic computer science problem that has been recently approached with Reinforcement Learning (RL) due to its potential to outperform prior methods. Existing RL techniques typically assume a global view of the…

Exploration in an unknown environment is the core functionality for mobile robots. Learning-based exploration methods, including convolutional neural networks, provide excellent strategies without human-designed logic for the feature…

Grasping unseen objects in unconstrained, cluttered environments is an essential skill for autonomous robotic manipulation. Despite recent progress in full 6-DoF grasp learning, existing approaches often consist of complex sequential…

Imitation learning is a powerful machine learning algorithm for a robot to acquire manipulation skills. Nevertheless, many real-world manipulation tasks involve precise and dexterous robot-object interactions, which make it difficult for…