相关论文: Sequential Manipulation Planning on Scene Graph
Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…
Recent advancements in text-to-image generation have been propelled by the development of diffusion models and multi-modality learning. However, since text is typically represented sequentially in these models, it often falls short in…
Long-term complex activity recognition and localisation can be crucial for decision making in autonomous systems such as smart cars and surgical robots. Here we address the problem via a novel deformable, spatiotemporal scene graph…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
Global and local relational reasoning enable scene understanding models to perform human-like scene analysis and understanding. Scene understanding enables better semantic segmentation and object-to-object interaction detection. In the…
Soft object manipulation tasks in domestic scenes pose a significant challenge for existing robotic skill learning techniques due to their complex dynamics and variable shape characteristics. Since learning new manipulation skills from…
Recent advancements in Generative Artificial Intelligence (GenAI) have significantly enhanced the capabilities of both image generation and editing. However, current approaches often treat these tasks separately, leading to inefficiencies…
Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…
In robotics, the effective integration of environmental data into actionable knowledge remains a significant challenge due to the variety and incompatibility of data formats commonly used in scene descriptions, such as MJCF, URDF, and SDF.…
Scene Graph Generation (SGG) remains a challenging visual understanding task due to its compositional property. Most previous works adopt a bottom-up, two-stage or point-based, one-stage approach, which often suffers from high time…
Robotic manipulation tasks, such as object rearrangement, play a crucial role in enabling robots to interact with complex and arbitrary environments. Existing work focuses primarily on single-level rearrangement planning and, even if…
This paper addresses the optimization of human-robot collaborative work-cells before their physical deployment. Most of the times, such environments are designed based on the experience of the system integrators, often leading to…
Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…
Autonomous long-horizon mobile manipulation encompasses a multitude of challenges, including scene dynamics, unexplored areas, and error recovery. Recent works have leveraged foundation models for scene-level robotic reasoning and planning.…
Most existing text-to-image synthesis tasks are static single-turn generation, based on pre-defined textual descriptions of images. To explore more practical and interactive real-life applications, we introduce a new task - Interactive…
This study examines the digital value chain in automotive manufacturing, focusing on the identification, software flashing, customization, and commissioning of electronic control units in vehicle networks. A novel precedence graph design is…
Scene graph generation (SGG) is built on top of detected objects to predict object pairwise visual relations for describing the image content abstraction. Existing works have revealed that if the links between objects are given as prior…
Controllable 3D scene generation has extensive applications in virtual reality and interior design, where the generated scenes should exhibit high levels of realism and controllability in terms of geometry. Scene graphs provide a suitable…
Procedural activities are sequences of key-steps aimed at achieving specific goals. They are crucial to build intelligent agents able to assist users effectively. In this context, task graphs have emerged as a human-understandable…
While Open Set Semantic Mapping and 3D Semantic Scene Graphs (3DSSGs) are established paradigms in robotic perception, deploying them effectively to support high-level reasoning in large-scale, real-world environments remains a significant…