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

Goal-conditioned rearrangement of deformable objects (e.g. straightening a rope and folding a cloth) is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a prescribed goal…

Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…

Multiple mobile robots play a significant role in various spatially distributed tasks.In unfamiliar and non-repetitive scenarios, reconstructing the global map is time-inefficient and sometimes unrealistic. Hence, research has focused on…

Predicting the movement trajectories of multiple classes of road users in real-world scenarios is a challenging task due to the diverse trajectory patterns. While recent works of pedestrian trajectory prediction successfully modelled the…

Bottom-up approaches for image-based multi-person pose estimation consist of two stages: (1) keypoint detection and (2) grouping of the detected keypoints to form person instances. Current grouping approaches rely on learned embedding from…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

Retrieving spatial information and understanding the semantic information of the surroundings are important for Bird's-Eye-View (BEV) semantic segmentation. In the application of autonomous driving, autonomous vehicles need to be aware of…

Locating an object in a sequence of frames, given its appearance in the first frame of the sequence, is a hard problem that involves many stages. Usually, state-of-the-art methods focus on bringing novel ideas in the visual encoding or…

Semantic localization, i.e., robot self-localization with semantic image modality, is critical in recently emerging embodied AI applications (e.g., point-goal navigation, object-goal navigation, vision language navigation) and topological…

As an important part of intelligent transportation systems, traffic forecasting has attracted tremendous attention from academia and industry. Despite a lot of methods being proposed for traffic forecasting, it is still difficult to model…

In this paper, we tackle the problem of relational behavior forecasting from sensor data. Towards this goal, we propose a novel spatially-aware graph neural network (SpAGNN) that models the interactions between agents in the scene.…

We present a relational graph learning approach for robotic crowd navigation using model-based deep reinforcement learning that plans actions by looking into the future. Our approach reasons about the relations between all agents based on…

Traffic forecasting is a particularly challenging application of spatiotemporal forecasting, due to the time-varying traffic patterns and the complicated spatial dependencies on road networks. To address this challenge, we learn the traffic…

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…

Cross-View Geo-Localisation within urban regions is challenging in part due to the lack of geo-spatial structuring within current datasets and techniques. We propose utilising graph representations to model sequences of local observations…

Segmentation-based tracking has been actively studied in computer vision and multimedia. Superpixel based object segmentation and tracking methods are usually developed for this task. However, they independently perform feature…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

We study an informative path-planning problem where the goal is to minimize the time required to learn a spatially varying entity. We use Gaussian Process (GP) regression for learning the underlying field. Our goal is to ensure that the GP…

To achieve full autonomous driving, a good understanding of the surrounding environment is necessary. Especially predicting the future states of other traffic participants imposes a non-trivial challenge. Current SotA-models already show…

Embodied AI is an inevitable trend that emphasizes the interaction between intelligent entities and the real world, with broad applications in Robotics, especially target-driven navigation. This task requires the robot to find an object of…