相关论文: REACT: Real-time Efficient Attribute Clustering an…

Scene graphs are a powerful structured representation of the underlying content of images, and embeddings derived from them have been shown to be useful in multiple downstream tasks. In this work, we employ a graph convolutional network to…

Recent self-supervised clustering-based pre-training techniques like DINO and Cribo have shown impressive results for downstream detection and segmentation tasks. However, real-world applications such as autonomous driving face challenges…

Urban scene reconstruction is critical for autonomous driving, enabling structured 3D representations for data synthesis and closed-loop testing. Supervised approaches rely on costly human annotations and lack scalability, while current…

3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel…

Place recognition plays an essential role in the field of autonomous driving and robot navigation. Point cloud based methods mainly focus on extracting global descriptors from local features of point clouds. Despite having achieved…

Identifying objects in an image and their mutual relationships as a scene graph leads to a deep understanding of image content. Despite the recent advancement in deep learning, the detection and labeling of visual object relationships…

State-of-the-art detection systems are generally evaluated on their ability to exhaustively retrieve objects densely distributed in the image, across a wide variety of appearances and semantic categories. Orthogonal to this, many real-life…

Indoor environments evolve as objects move, appear, or leave the scene. Capturing these dynamics requires maintaining temporally consistent instance identities across intermittently captured 3D scans, even when changes are unobserved. We…

Dynamic scenes rendering is an intriguing yet challenging problem. Although current methods based on NeRF have achieved satisfactory performance, they still can not reach real-time levels. Recently, 3D Gaussian Splatting (3DGS) has garnered…

Incidents in production systems are common and downtime is expensive. Applying an appropriate mitigating action quickly, such as changing a specific firewall rule, reverting a change, or diverting traffic to a different availability zone,…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

Cooperative multi-agent reinforcement learning faces significant challenges in effectively organizing agent relationships and facilitating information exchange, particularly when agents need to adapt their coordination patterns dynamically.…

Accurately annotating multiple 3D objects in LiDAR scenes is laborious and challenging. While a few previous studies have attempted to leverage semi-automatic methods for cost-effective bounding box annotation, such methods have limitations…

This paper presents a real-time segmentation and reconstruction system that utilizes RGB-D images to generate accurate and detailed individual 3D models of objects within a captured scene. Leveraging state-of-the-art instance segmentation…

Building generalist agents that can rapidly adapt to new environments is a key challenge for deploying AI in the digital and real worlds. Is scaling current agent architectures the most effective way to build generalist agents? We propose a…

We present Dynamic ReAct, a novel approach for enabling ReAct agents to efficiently operate with extensive Model Control Protocol (MCP) tool sets that exceed the contextual memory limitations of large language models. Our approach addresses…

We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. Traditional point-based 3D object detectors often employ architectures that rely on a progressive downsampling of…

Scene graph generation aims to capture detailed spatial and semantic relationships between objects in an image, which is challenging due to incomplete labelling, long-tailed relationship categories, and relational semantic overlap. Existing…

To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…

Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily…