相关论文: Task-Driven Graph Attention for Hierarchical Relat…

Sequentially interacting with articulated objects is crucial for a mobile manipulator to operate effectively in everyday environments. To enable long-horizon tasks involving articulated objects, this study explores building scene-level…

In this experiment, three different search algorithms are implemented for the purpose of extracting a task tree from a large knowledge graph, known as the Functional Object-Oriented Network (FOON). Using a universal FOON, which contains…

The recent progress in multi-agent deep reinforcement learning(MADRL) makes it more practical in real-world tasks, but its relatively poor scalability and the partially observable constraints raise challenges to its performance and…

When humans and robotic agents coexist in an environment, scene understanding becomes crucial for the agents to carry out various downstream tasks like navigation and planning. Hence, an agent must be capable of localizing and identifying…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…

Recent 2D-to-3D human pose estimation works tend to utilize the graph structure formed by the topology of the human skeleton. However, we argue that this skeletal topology is too sparse to reflect the body structure and suffer from serious…

Events defined by the interaction of objects in a scene are often of critical importance; yet important events may have insufficient labeled examples to train a conventional deep model to generalize to future object appearance. Activity…

Object search is a fundamental skill for household robots, yet the core problem lies in the robot's ability to locate the target object accurately. The dynamic nature of household environments, characterized by the arbitrary placement of…

Scene text detection is still a challenging task, as there may be extremely small or low-resolution strokes, and close or arbitrary-shaped texts. In this paper, StrokeNet is proposed to effectively detect the texts by capturing the…

Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach. In this paper, a robotic grasp…

We propose a joint object pose estimation and categorization approach which extracts information about object poses and categories from the object parts and compositions constructed at different layers of a hierarchical object…

Graph based representation has been widely used in modelling spatio-temporal relationships in video understanding. Although effective, existing graph-based approaches focus on capturing the human-object relationships while ignoring…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

This paper addresses the challenge of object-centric layout generation under spatial constraints, seen in multiple domains including floorplan design process. The design process typically involves specifying a set of spatial constraints…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…

Solving robotic navigation tasks via reinforcement learning (RL) is challenging due to their sparse reward and long decision horizon nature. However, in many navigation tasks, high-level (HL) task representations, like a rough floor plan,…