相关论文: Commonsense Scene Graph-based Target Localization …

We propose an end-to-end solution to address the problem of object localisation in partial scenes, where we aim to estimate the position of an object in an unknown area given only a partial 3D scan of the scene. We propose a novel scene…

We solve object localisation in partial scenes, a new problem of estimating the unknown position of an object (e.g. where is the bag?) given a partial 3D scan of a scene. The proposed solution is based on a novel scene graph model, the…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

How can we build robots for open-world semantic navigation tasks, like searching for target objects in novel scenes? While foundation models have the rich knowledge and generalisation needed for these tasks, a suitable scene representation…

A robot working in a physical environment (like home or factory) needs to learn to use various available tools for accomplishing different tasks, for instance, a mop for cleaning and a tray for carrying objects. The number of possible tools…

Robots are often required to localize in environments with unknown object classes and semantic ambiguity. However, when performing global localization using semantic objects, high semantic ambiguity intensifies object misclassification and…

This paper describes a framework for the object-goal navigation task, which requires a robot to find and move to the closest instance of a target object class from a random starting position. The framework uses a history of robot…

Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…

Answering complex questions about images is an ambitious goal for machine intelligence, which requires a joint understanding of images, text, and commonsense knowledge, as well as a strong reasoning ability. Recently, multimodal…

Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a…

When robots retrieve specific objects from cluttered scenes, such as home and warehouse environments, the target objects are often partially occluded or completely hidden. Robots are thus required to search, identify a target object, and…

The household rearrangement task involves spotting misplaced objects in a scene and accommodate them with proper places. It depends both on common-sense knowledge on the objective side and human user preference on the subjective side. In…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

This paper addresses the problem of object-goal navigation in autonomous inspections in real-world environments. Object-goal navigation is crucial to enable effective inspections in various settings, often requiring the robot to identify…

Conventional approaches to image-text retrieval mainly focus on indexing visual objects appearing in pictures but ignore the interactions between these objects. Such objects occurrences and interactions are equivalently useful and important…

3D scene graph prediction is a task that aims to concurrently predict object classes and their relationships within a 3D environment. As these environments are primarily designed by and for humans, incorporating commonsense knowledge…

Creating robots that can assist in farms and gardens can help reduce the mental and physical workload experienced by farm workers. We tackle the problem of object search in a farm environment, providing a method that allows a robot to…

We explore how a general AI algorithm can be used for 3D scene understanding to reduce the need for training data. More exactly, we propose a modification of the Monte Carlo Tree Search (MCTS) algorithm to retrieve objects and room layouts…

Visual Commonsense Reasoning, which is regarded as one challenging task to pursue advanced visual scene comprehension, has been used to diagnose the reasoning ability of AI systems. However, reliable reasoning requires a good grasp of the…

This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The focus of the object affordance is on reasoning how to…