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

We introduce a novel embedding method diverging from conventional approaches by operating within function spaces of finite dimension rather than finite vector space, thus departing significantly from standard knowledge graph embedding…

Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world. Existing planar grasp estimation algorithms have been demonstrated to work well in relatively simple scenes. But when it comes to complex…

Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…

This work presents a novel framework for few-shot 3D part segmentation. Recent advances have demonstrated the significant potential of 2D foundation models for low-shot 3D part segmentation. However, it is still an open problem that how to…

This paper primarily focuses on evaluating and benchmarking the robustness of visual representations in the context of object assembly tasks. Specifically, it investigates the alignment and insertion of objects with geometrical extrusions…

Mobile robots should be aware of their situation, comprising the deep understanding of their surrounding environment along with the estimation of its own state, to successfully make intelligent decisions and execute tasks autonomously in…

Capturing the composition patterns of relations is a vital task in knowledge graph completion. It also serves as a fundamental step towards multi-hop reasoning over learned knowledge. Previously, several rotation-based translational methods…

Graphical User Interface (GUI) task automation constitutes a critical frontier in artificial intelligence research. While effective GUI agents synergistically integrate planning and grounding capabilities, current methodologies exhibit two…

We introduce Patchwork, a new general-purpose shape representation capable of modeling 2D and 3D geometry with a small number of parameters. Patchwork is grounded in a rigorous mathematical framework, providing provable complexity bounds…

Person re identification is a challenging retrieval task that requires matching a person's acquired image across non overlapping camera views. In this paper we propose an effective approach that incorporates both the fine and coarse pose…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

The Random Dot Product Graph (RDPG) is a generative model for relational data, where nodes are represented via latent vectors in low-dimensional Euclidean space. RDPGs crucially postulate that edge formation probabilities are given by the…

Graph is an important data representation which appears in a wide diversity of real-world scenarios. Effective graph analytics provides users a deeper understanding of what is behind the data, and thus can benefit a lot of useful…

We present a method for learning an embedding that places images of humans in similar poses nearby. This embedding can be used as a direct method of comparing images based on human pose, avoiding potential challenges of estimating body…

3D Scene Graphs (3DSGs) constitute a powerful representation of the physical world, distinguished by their abilities to explicitly model the complex spatial, semantic, and functional relationships between entities, rendering a foundational…

Entity alignment seeks to find entities in different knowledge graphs (KGs) that refer to the same real-world object. Recent advancement in KG embedding impels the advent of embedding-based entity alignment, which encodes entities in a…

Robotic assembly systems traditionally require substantial manual engineering effort to integrate new tasks, adapt to new environments, and improve performance over time. This paper presents a framework for autonomous integration and…

This work examines two ways of using proper orthogonal decomposition (POD) to enhance the prior work of EITPose, a device which uses electrical impedance tomography (EIT) to detect posture by way of a band of electrodes on the forearm.…

Pose graph optimization is a non-convex optimization problem encountered in many areas of robotics perception. Its convergence to an accurate solution is conditioned by two factors: the non-linearity of the cost function in use and the…

Graph-based methods are known to be successful in many machine learning and pattern classification tasks. These methods consider semi-structured data as graphs where nodes correspond to primitives (parts, interest points, segments, etc.)…