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

Automatically detecting/segmenting object(s) that blend in with their surroundings is difficult for current models. A major challenge is that the intrinsic similarities between such foreground objects and background surroundings make the…

Recently, graph neural networks (GNNs) have proved to be suitable in tasks on unstructured data. Particularly in tasks as community detection, node classification, and link prediction. However, most GNN models still operate with static…

Emerging object-based SLAM algorithms can build a graph representation of an environment comprising nodes for robot poses and object landmarks. However, while this map will contain static objects such as furniture or appliances, many…

We introduce a novel method to teach a robotic agent to interactively explore cluttered yet structured scenes, such as kitchen pantries and grocery shelves, by leveraging the physical plausibility of the scene. We propose a novel learning…

Autonomous long-horizon mobile manipulation encompasses a multitude of challenges, including scene dynamics, unexplored areas, and error recovery. Recent works have leveraged foundation models for scene-level robotic reasoning and planning.…

A latent space model for a family of random graphs assigns real-valued vectors to nodes of the graph such that edge probabilities are determined by latent positions. Latent space models provide a natural statistical framework for graph…

Manifold Learning occupies a vital role in the field of nonlinear dimensionality reduction and its ideas also serve for other relevant methods. Graph-based methods such as Graph Convolutional Networks (GCN) show ideas in common with…

Recently, Graph Neural Networks (GNNs) have proven their effectiveness for recommender systems. Existing studies have applied GNNs to capture collaborative relations in the data. However, in real-world scenarios, the relations in a…

Object detection, scene graph generation and region captioning, which are three scene understanding tasks at different semantic levels, are tied together: scene graphs are generated on top of objects detected in an image with their pairwise…

Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in trajectory planning have leveraged vision-language models (VLMs) to…

We address the problem of affordance reasoning in diverse scenes that appear in the real world. Affordances relate the agent's actions to their effects when taken on the surrounding objects. In our work, we take the egocentric view of the…

In this study, we focus on the graph representation learning (a.k.a. network embedding) in attributed graphs. Different from existing embedding methods that treat the incorporation of graph structure and semantic as the simple combination…

Edge detection is among the most fundamental vision problems for its role in perceptual grouping and its wide applications. Recent advances in representation learning have led to considerable improvements in this area. Many state of the art…

The goal of this paper is to detect objects by exploiting their interrelationships. Contrary to existing methods, which learn objects and relations separately, our key idea is to learn the object-relation distribution jointly. We first…

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…

Advancements in the capabilities of Large Language Models (LLMs) have created a promising foundation for developing autonomous agents. With the right tools, these agents could learn to solve tasks in new environments by accumulating and…

We present a novel graph-based learning of EEG representations with gradient alignment (GEEGA) that leverages multi-domain information to learn EEG representations for brain-computer interfaces. Our model leverages graph convolutional…

Personalizing language models by effectively incorporating user interaction history remains a central challenge in the development of adaptive AI systems. While large language models (LLMs), combined with Retrieval-Augmented Generation…

Robotic object rearrangement combines the skills of picking and placing objects. When object models are unavailable, typical collision-checking models may be unable to predict collisions in partial point clouds with occlusions, making…

Graph Neural Networks (GNNs) have shown promising results in various tasks, among which link prediction is an important one. GNN models usually follow a node-centric message passing procedure that aggregates the neighborhood information to…