相关论文: Embedding Pose Graph, Enabling 3D Foundation Model…

Learning data-efficient object dynamics models for robotic manipulation remains challenging, especially for deformable objects. A popular approach is to model objects as sets of 3D particles and learn their motion using graph neural…

A key challenge in robot manipulation lies in developing policy models with strong spatial understanding, the ability to reason about 3D geometry, object relations, and robot embodiment. Existing methods often fall short: 3D point cloud…

Grasp detection of novel objects in unstructured environments is a key capability in robotic manipulation. For 2D grasp detection problems where grasps are assumed to lie in the plane, it is common to design a fully convolutional neural…

Partial point cloud registration is essential for autonomous perception and 3D scene understanding, yet it remains challenging owing to structural ambiguity, partial visibility, and noise. We address these issues by proposing Confidence…

Heterogeneous graphs (HGs) also known as heterogeneous information networks have become ubiquitous in real-world scenarios; therefore, HG embedding, which aims to learn representations in a lower-dimension space while preserving the…

Learning-based methods have become increasingly popular for solving vehicle routing problems due to their near-optimal performance and fast inference speed. Among them, the combination of deep reinforcement learning and graph representation…

Entity type prediction is an important problem in knowledge graph (KG) research. A new KG entity type prediction method, named CORE (COmplex space Regression and Embedding), is proposed in this work. The proposed CORE method leverages the…

Knowledge graph (KG) embedding aims at embedding entities and relations in a KG into a lowdimensional latent representation space. Existing KG embedding approaches model entities andrelations in a KG by utilizing real-valued ,…

Knowledge Graph embedding provides a versatile technique for representing knowledge. These techniques can be used in a variety of applications such as completion of knowledge graph to predict missing information, recommender systems,…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…

Grasp pose detection (GPD) is a fundamental capability for robotic autonomy, but its reliance on large, diverse datasets creates significant data privacy and centralization challenges. Federated Learning (FL) offers a privacy-preserving…

Graph neural networks (GNNs) provide a powerful and scalable solution for modeling continuous spatial data. However, they often rely on Euclidean distances to construct the input graphs. This assumption can be improbable in many real-world…

Electroencephalography (EEG)-based brain-computer interfaces facilitate direct communication with a computer, enabling promising applications in human-computer interactions. However, their utility is currently limited because EEG decoding…

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…

Knowledge Graph Embeddings (KGEs) have been intensively explored in recent years due to their promise for a wide range of applications. However, existing studies focus on improving the final model performance without acknowledging the…

Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise…

Graph embedding methods aim at finding useful graph representations by mapping nodes to a low-dimensional vector space. It is a task with important downstream applications, such as link prediction, graph reconstruction, data visualization,…

We propose a novel framework for decision-making in cooperative grasping for two-robot object transport in constrained environments. The core of the framework is a Conditional Embedding (CE) model consisting of two neural networks that map…

Knowledge graph representation learning approaches provide a mapping between symbolic knowledge in the form of triples in a knowledge graph (KG) and their feature vectors. Knowledge graph embedding (KGE) models often represent relations in…

Knowledge Graphs (KGs) store human knowledge in the form of entities (nodes) and relations, and are used extensively in various applications. KG embeddings are an effective approach to addressing tasks like knowledge discovery, link…