相关论文: Graph-Transporter: A Graph-based Learning Method f…
Traffic forecasting is an indispensable part of Intelligent transportation systems (ITS), and long-term network-wide accurate traffic speed forecasting is one of the most challenging tasks. Recently, deep learning methods have become…
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict stable grasp configurations for known object models, they…
Transformers have achieved great success in several domains, including Natural Language Processing and Computer Vision. However, its application to real-world graphs is less explored, mainly due to its high computation cost and its poor…
With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have recently emerged as a more untouched research area in many fields ranging from surgical robotics to…
In this paper, we explore a novel model reusing task tailored for graph neural networks (GNNs), termed as "deep graph reprogramming". We strive to reprogram a pre-trained GNN, without amending raw node features nor model parameters, to…
Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…
In this paper, we present a learning method to solve the unlabelled motion problem with motion constraints and space constraints in 2D space for a large number of robots. To solve the problem of arbitrary dynamics and constraints we propose…
Graphs provide a powerful means for representing complex interactions between entities. Recently, deep learning approaches are emerging for representing and modeling graph-structured data, although the conventional deep learning methods…
Transformer architectures, capable of capturing sequential dependencies in the history of user interactions, have become the dominant approach in sequential recommender systems. Despite their success, such models consider sequence elements…
Mission planning for a fleet of cooperative autonomous drones in applications that involve serving distributed target points, such as disaster response, environmental monitoring, and surveillance, is challenging, especially under partial…
Understanding and interacting with everyday physical scenes requires rich knowledge about the structure of the world, represented either implicitly in a value or policy function, or explicitly in a transition model. Here we introduce a new…
The problem of decentralized multi-robot target tracking asks for jointly selecting actions, e.g., motion primitives, for the robots to maximize target tracking performance with local communications. One major challenge for practical…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
The superior performance of Deformable Convolutional Networks arises from its ability to adapt to the geometric variations of objects. Through an examination of its adaptive behavior, we observe that while the spatial support for its neural…
Non-local self-similarity is well-known to be an effective prior for the image denoising problem. However, little work has been done to incorporate it in convolutional neural networks, which surpass non-local model-based methods despite…
Convolutional neural network (CNN) based methods have achieved great successes in medical image segmentation, but their capability to learn global representations is still limited due to using small effective receptive fields of convolution…
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…
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full control of the co-carrying trajectories by the person while…
Graph data completion is a fundamentally important issue as data generally has a graph structure, e.g., social networks, recommendation systems, and the Internet of Things. We consider a graph where each node has a data matrix, represented…
Graph representation of objects and their relations in a scene, known as a scene graph, provides a precise and discernible interface to manipulate a scene by modifying the nodes or the edges in the graph. Although existing works have shown…