相关论文: LLM-enhanced Scene Graph Learning for Household Re…

Learning object affordances is an effective tool in the field of robot learning. While the data-driven models investigate affordances of single or paired objects, there is a gap in the exploration of affordances of compound objects composed…

Building 3D scene graphs has recently emerged as a topic in scene representation for several embodied AI applications to represent the world in a structured and rich manner. With their increased use in solving downstream tasks (eg,…

The scene graph is a new data structure describing objects and their pairwise relationship within image scenes. As the size of scene graph in vision applications grows, how to losslessly and efficiently store such data on disks or transmit…

We propose a new method for embedding graphs while preserving directed edge information. Learning such continuous-space vector representations (or embeddings) of nodes in a graph is an important first step for using network information…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

Despite impressive advancements in Autonomous Driving Systems (ADS), navigation in complex road conditions remains a challenging problem. There is considerable evidence that evaluating the subjective risk level of various decisions can…

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…

In this paper, we propose an effective global relation learning algorithm to recommend an appropriate location of a building unit for in-game customization of residential home complex. Given a construction layout, we propose a visual…

In many real-world applications involving static environments, the spatial layout of objects remains consistent across instances. However, state-of-the-art object detection models often fail to leverage this spatial prior, resulting in…

Entity alignment is crucial for merging knowledge across knowledge graphs, as it matches entities with identical semantics. The standard method matches these entities based on their embedding similarities using semi-supervised learning.…

Generating 3D visual scenes is at the forefront of visual generative AI, but current 3D generation techniques struggle with generating scenes with multiple high-resolution objects. Here we introduce Lay-A-Scene, which solves the task of…

In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method for converting the plan of a building into what we denote…

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…

Most existing deep learning-based acoustic scene classification (ASC) approaches directly utilize representations extracted from spectrograms to identify target scenes. However, these approaches pay little attention to the audio events…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

Objects and their relationships are critical contents for image understanding. A scene graph provides a structured description that captures these properties of an image. However, reasoning about the relationships between objects is very…

Scene graph generation (SGG) is a sophisticated task that suffers from both complex visual features and dataset long-tail problem. Recently, various unbiased strategies have been proposed by designing novel loss functions and data balancing…

Sequential recommendation has been a widely popular topic of recommender systems. Existing works have contributed to enhancing the prediction ability of sequential recommendation systems based on various methods, such as recurrent networks…

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…