相关论文: Spatial Relation Graph and Graph Convolutional Net…

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…

Given an object of interest, visual navigation aims to reach the object's location based on a sequence of partial observations. To this end, an agent needs to 1) learn a piece of certain knowledge about the relations of object categories in…

Object Goal Navigation requires a robot to find and navigate to an instance of a target object class in a previously unseen environment. Our framework incrementally builds a semantic map of the environment over time, and then repeatedly…

The 3D scene graph models spatial relationships between objects, enabling the agent to efficiently navigate in a partially observable environment and predict the location of the target object.This paper proposes an original framework named…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

Recognizing precise geometrical configurations of groups of objects is a key capability of human spatial cognition, yet little studied in the deep learning literature so far. In particular, a fundamental problem is how a machine can learn…

Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place…

We propose a learning framework to find the representation of a robot's kinematic structure and motion embedding spaces using graph neural networks (GNN). Finding a compact and low-dimensional embedding space for complex phenomena is a key…

Emerging object-based SLAM algorithms can build a graph representation of an environment comprising nodes for robot poses and object landmarks. However, while this map will contain static objects such as furniture or appliances, many…

Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…

Graph Convolutional Networks (GCNs) have recently become the primary choice for learning from graph-structured data, superseding hash fingerprints in representing chemical compounds. However, GCNs lack the ability to take into account the…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real…

We present a novel Multi-Relational Graph Convolutional Network (MRGCN) based framework to model on-road vehicle behaviors from a sequence of temporally ordered frames as grabbed by a moving monocular camera. The input to MRGCN is a…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

Learning graph convolutional networks (GCNs) is an emerging field which aims at generalizing convolutional operations to arbitrary non-regular domains. In particular, GCNs operating on spatial domains show superior performances compared to…

Localization in topological maps is essential for image-based navigation using an RGB camera. Localization using only one camera can be challenging in medium-to-large-sized environments because similar-looking images are often observed…

Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…