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

Despite the great success object detection and segmentation models have achieved in recognizing individual objects in images, performance on cognitive tasks such as image caption, semantic image retrieval, and visual QA is far from…

Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…

3D scene graphs hierarchically represent the environment appropriately organizing different environmental entities in various layers. Our previous work on situational graphs extends the concept of 3D scene graph to SLAM by tightly coupling…

Context is important for accurate visual recognition. In this work we propose an object detection algorithm that not only considers object visual appearance, but also makes use of two kinds of context including scene contextual information…

This paper investigates the integration of graph neural networks (GNNs) with Qualitative Explainable Graphs (QXGs) for scene understanding in automated driving. Scene understanding is the basis for any further reactive or proactive…

We introduce a novel problem, i.e., the localization of an input image within a multi-modal reference map represented by a database of 3D scene graphs. These graphs comprise multiple modalities, including object-level point clouds, images,…

We present HARP, a novel method for learning low dimensional embeddings of a graph's nodes which preserves higher-order structural features. Our proposed method achieves this by compressing the input graph prior to embedding it, effectively…

When humans have to solve everyday tasks, they simply pick the objects that are most suitable. While the question which object should one use for a specific task sounds trivial for humans, it is very difficult to answer for robots or other…

Hierarchical Reinforcement Learning (HRL) has made notable progress in complex control tasks by leveraging temporal abstraction. However, previous HRL algorithms often suffer from serious data inefficiency as environments get large. The…

Establishing semantic correspondence across images when the objects in the images have undergone complex deformations remains a challenging task in the field of computer vision. In this paper, we propose a hierarchical method to tackle this…

The vigorous developments of Internet of Things make it possible to extend its computing and storage capabilities to computing tasks in the aerial system with collaboration of cloud and edge, especially for artificial intelligence (AI)…

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…

Robotic task planning in real-world environments requires not only object recognition but also a nuanced understanding of spatial relationships between objects. We present a spatial-relationship-aware dataset of nearly 1,000 robot-acquired…

Rearranging deformable objects is a long-standing challenge in robotic manipulation for the high dimensionality of configuration space and the complex dynamics of deformable objects. We present a novel framework, Graph-Transporter, for…

Convolutional Neural Networks (CNNs) have revolutionized the understanding of visual content. This is mainly due to their ability to break down an image into smaller pieces, extract multi-scale localized features and compose them to…

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…

Scene graphs are nodes and edges consisting of objects and object-object relationships, respectively. Scene graph generation (SGG) aims to identify the objects and their relationships. We propose a bidirectional GRU (BiGRU) transformer…

Many graph representation learning (GRL) problems are dynamic, with millions of edges added or removed per second. A fundamental workload in this setting is dynamic link prediction: using a history of graph updates to predict whether a…

This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…

In this paper, we focus on graph representation learning of heterogeneous information network (HIN), in which various types of vertices are connected by various types of relations. Most of the existing methods conducted on HIN revise…