相关论文: Long-term Visual Map Sparsification with Heterogen…

This paper presents a novel approach to image-goal navigation by integrating 3D Gaussian Splatting (3DGS) with Visual Navigation Models (VNMs), a method we refer to as GSplatVNM. VNMs offer a promising paradigm for image-goal navigation by…

This paper aims to investigate representation learning for large scale visual place recognition, which consists of determining the location depicted in a query image by referring to a database of reference images. This is a challenging task…

In wireless networks characterized by dense connectivity, the significant signaling overhead generated by distributed link scheduling algorithms can exacerbate issues like congestion, energy consumption, and radio footprint expansion. To…

We address the problem of visual place recognition with perceptual changes. The fundamental problem of visual place recognition is generating robust image representations which are not only insensitive to environmental changes but also…

Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…

We present an online landmark selection method for distributed long-term visual localization systems in bandwidth-constrained environments. Sharing a common map for online localization provides a fleet of au- tonomous vehicles with the…

We consider the exploration problem: an agent equipped with a depth sensor must map out a previously unknown environment using as few sensor measurements as possible. We propose an approach based on supervised learning of a greedy…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…

Maintaining an up-to-date map that accurately reflects recent changes in the environment is crucial, especially for robots that repeatedly traverse the same space. Failing to promptly update the changed regions can degrade map quality,…

This paper addresses matrix approximation problems for matrices that are large, sparse and/or that are representations of large graphs. To tackle these problems, we consider algorithms that are based primarily on coarsening techniques,…

This paper explores the applications and challenges of graph neural networks (GNNs) in processing complex graph data brought about by the rapid development of the Internet. Given the heterogeneity and redundancy problems that graph data…

Network sparsification methods play an important role in modern network analysis when fast estimation of computationally expensive properties (such as the diameter, centrality indices, and paths) is required. We propose a method of network…

Graph Neural Networks (GNNs) have shown superior performance in node classification. However, GNNs perform poorly in the Few-Shot Node Classification (FSNC) task that requires robust generalization to make accurate predictions for unseen…

Handling missing node features is a key challenge for deploying Graph Neural Networks (GNNs) in real-world domains such as healthcare and sensor networks. Existing studies mostly address relatively benign scenarios, namely benchmark…

Mapping and localization, preferably from a small number of observations, are fundamental tasks in robotics. We address these tasks by combining spatial structure (differentiable mapping) and end-to-end learning in a novel neural network…

The problem of sparsifying a graph or a hypergraph while approximately preserving its cut structure has been extensively studied and has many applications. In a seminal work, Bencz\'ur and Karger (1996) showed that given any $n$-vertex…

We present a generic framework for spatio-temporal (ST) data modeling, analysis, and forecasting, with a special focus on data that is sparse in both space and time. Our multi-scaled framework is a seamless coupling of two major components:…

Generalized planning using deep reinforcement learning (RL) combined with graph neural networks (GNNs) has shown promising results in various symbolic planning domains described by PDDL. However, existing approaches typically represent…

When considering sparse motion capture marker data, one typically struggles to balance its overfitting via a high dimensional blendshape system versus underfitting caused by smoothness constraints. With the current trend towards using more…

Non-local operations are usually used to capture long-range dependencies via aggregating global context to each position recently. However, most of the methods cannot preserve object shapes since they only focus on feature similarity but…