相关论文: Sequential Manipulation Planning on Scene Graph

Robots are increasingly being used in dynamic environments like workplaces, hospitals, and homes. As a result, interactions with robots must be simple and intuitive, with robots perception adapting efficiently to human-induced changes. This…

Graph Edit Distance (GED) is a widely used measure of graph similarity, valued for its flexibility in encoding domain knowledge through operation costs. However, existing learning-based approximation methods follow a modeling paradigm that…

Despite decades of research, understanding human manipulation activities is, and has always been, one of the most attractive and challenging research topics in computer vision and robotics. Recognition and prediction of observed human…

Generating images from graph-structured inputs, such as scene graphs, is uniquely challenging due to the difficulty of aligning nodes and connections in graphs with objects and their relations in images. Most existing methods address this…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

3D hand pose estimation based on RGB images has been studied for a long time. Most of the studies, however, have performed frame-by-frame estimation based on independent static images. In this paper, we attempt to not only consider the…

This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…

This paper proposes a structure-aware driven scheduling graph modeling method to improve the accuracy and representation capability of anomaly identification in scheduling behaviors of complex systems. The method first designs a…

Automated planning is one of the foundational areas of AI. Since no single planner can work well for all tasks and domains, portfolio-based techniques have become increasingly popular in recent years. In particular, deep learning emerges as…

To enable robots to achieve high level objectives, engineers typically write scripts that apply existing specialized skills, such as navigation, object detection and manipulation to achieve these goals. Writing good scripts is challenging…

Learning structured task representations from human demonstrations is essential for understanding long-horizon manipulation behaviors, particularly in bimanual settings where action ordering, object involvement, and interaction geometry can…

Synthesizing realistic and diverse indoor 3D scene layouts in a controllable fashion opens up applications in simulated navigation and virtual reality. As concise and robust representations of a scene, scene graphs have proven to be…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

Scene Graph Generation (SGG) unifies object localization and visual relationship reasoning by predicting boxes and subject-predicate-object triples. Yet most pipelines treat SGG as a one-shot, deterministic classification problem rather…

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…

In this work, we introduce a strategy that frames the sequential action selection problem for robots in terms of resolving \textit{blocking conditions}, i.e., situations that impede progress on an action en route to a goal. This strategy…

This paper presents a novel knowledge-informed graph neural planner (KG-Planner) to address the challenge of efficiently planning collision-free motions for robots in high-dimensional spaces, considering both static and dynamic environments…

Image manipulation can be considered a special case of image generation where the image to be produced is a modification of an existing image. Image generation and manipulation have been, for the most part, tasks that operate on raw pixels.…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

Advances in robotic skill acquisition have made it possible to build general-purpose libraries of learned skills for downstream manipulation tasks. However, naively executing these skills one after the other is unlikely to succeed without…