相关论文: Sequential Manipulation Planning on Scene Graph

Scene graph generation (SGG) is an important task in image understanding because it represents the relationships between objects in an image as a graph structure, making it possible to understand the semantic relationships between objects…

3D semantic scene graphs (3DSSG) provide compact structured representations of environments by explicitly modeling objects, attributes, and relationships. While 3DSSGs have shown promise in robotics and embodied AI, many existing methods…

Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in…

Scene graphs capture complex relationships among objects, serving as strong priors for content generation and manipulation. Yet, reasonably manipulating scene graphs -- whether by adding nodes or modifying edges -- remains a challenging and…

Scene Graph Generation (SGG) serves a comprehensive representation of the images for human understanding as well as visual understanding tasks. Due to the long tail bias problem of the object and predicate labels in the available annotated…

Scene-aware global human motion forecasting is critical for manifold applications, including virtual reality, robotics, and sports. The task combines human trajectory and pose forecasting within the provided scene context, which represents…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

We introduce ProcGen3D, a new approach for 3D content creation by generating procedural graph abstractions of 3D objects, which can then be decoded into rich, complex 3D assets. Inspired by the prevalent use of procedural generators in…

We propose a systematic learning-based approach to the generation of massive quantities of synthetic 3D scenes and arbitrary numbers of photorealistic 2D images thereof, with associated ground truth information, for the purposes of…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…

Developing general robotic systems capable of manipulating in unstructured environments is a significant challenge, particularly as the tasks involved are typically long-horizon and rich-contact, requiring efficient skill transfer across…

This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation. The CMGMP algorithm generates hybrid motion plans including both continuous…

This paper addresses the challenges of registering two rigid semantic scene graphs, an essential capability when an autonomous agent needs to register its map against a remote agent, or against a prior map. The hand-crafted descriptors in…

Logic-Geometric Programming (LGP) is a powerful motion and manipulation planning framework, which represents hierarchical structure using logic rules that describe discrete aspects of problems, e.g., touch, grasp, hit, or push, and solves…

Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex…

This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…

Complex manipulation tasks can contain various execution branches of primitive skills in sequence or in parallel under different scenarios. Manual specifications of such branching conditions and associated skill parameters are not only…

Building 3D scene graphs has recently emerged as a topic in scene representation for several embodied AI applications to represent the world in a structured and rich manner. With their increased use in solving downstream tasks (eg,…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…