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

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Recent advances in task planning leverage Large Language Models (LLMs) to improve generalizability by combining such models with classical planning algorithms to address their inherent limitations in reasoning capabilities. However, these…

In real-world scenarios, although data entities may possess inherent relationships, the specific graph illustrating their connections might not be directly accessible. Latent graph inference addresses this issue by enabling Graph Neural…

Arranging objects correctly is a key capability for robots which unlocks a wide range of useful tasks. A prerequisite for creating successful arrangements is the ability to evaluate the desirability of a given arrangement. Our method…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…

With robots increasingly collaborating with humans in everyday tasks, it is important to take steps toward robotic systems capable of understanding the environment. This work focuses on scene understanding to detect pick and place tasks…

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…

Despite increasing research efforts on household robotics, robots intended for deployment in domestic settings still struggle with more complex tasks such as interacting with functional elements like drawers or light switches, largely due…

We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide, tilt, lean or topple. A recently proposed algorithm, M4M,…

Multimodal LLMs have advanced vision-language tasks but still struggle with understanding video scenes. To bridge this gap, Video Scene Graph Generation (VidSGG) has emerged to capture multi-object relationships across video frames.…

Memory retrieval in agentic large language model (LLM) systems is often treated as a static lookup problem, relying on flat vector search or fixed binary relational graphs. However, fixed graph structures cannot capture the varying…

Object rearranging is one of the most common deformable manipulation tasks, where the robot needs to rearrange a deformable object into a goal configuration. Previous studies focus on designing an expert system for each specific task by…

Graph recommendation methods, representing a connected interaction perspective, reformulate user-item interactions as graphs to leverage graph structure and topology to recommend and have proved practical effectiveness at scale. Large…

A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…

Scene Graph Generation (SGG) is a visual understanding task, aiming to describe a scene as a graph of entities and their relationships with each other. Existing works rely on location labels in form of bounding boxes or segmentation masks,…

Robots will be expected to manipulate a wide variety of objects in complex and arbitrary ways as they become more widely used in human environments. As such, the rearrangement of objects has been noted to be an important benchmark for AI…

Accurate localization is a fundamental requirement for autonomous robots operating in indoor environments. Scene graphs encode the spatial structure of an environment as a hierarchy of semantic entities and their relationships, and can be…

Scene Graph Generation (SGG) endeavors to predict the relationships between subjects and objects in a given image. Nevertheless, the long-tail distribution of relations often leads to biased prediction on coarse labels, presenting a…

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…