相关论文: Real-Time Manipulation Action Recognition with a F…

Efficient localization and high-quality rendering in large-scale scenes remain a significant challenge due to the computational cost involved. While Scene Coordinate Regression (SCR) methods perform well in small-scale localization, they…

Capturing scene dynamics and predicting the future scene state is challenging but essential for robotic manipulation tasks, especially when the scene contains both rigid and deformable objects. In this work, we contribute a simulation…

In recent years, Graph Neural Networks (GNNs) have achieved remarkable success in many graph mining tasks. However, scaling them to large graphs is challenging due to the high computational and storage costs of repeated feature propagation…

Robotic manipulation, in particular in-hand object manipulation, often requires an accurate estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-of-the-art approaches in 6D object pose estimation use…

The Graph Convolutional Network (GCN) model and its variants are powerful graph embedding tools for facilitating classification and clustering on graphs. However, a major challenge is to reduce the complexity of layered GCNs and make them…

Transformers are increasingly employed for graph data, demonstrating competitive performance in diverse tasks. To incorporate graph information into these models, it is essential to enhance node and edge features with positional encodings.…

In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently shown great success. However, the derived controllers are…

Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…

There has been a recent surge in learning generative models for graphs. While impressive progress has been made on static graphs, work on generative modeling of temporal graphs is at a nascent stage with significant scope for improvement.…

The task of skeleton-based action recognition remains a core challenge in human-centred scene understanding due to the multiple granularities and large variation in human motion. Existing approaches typically employ a single neural…

Factor graph optimization serves as a fundamental framework for robotic perception, enabling applications such as pose estimation, simultaneous localization and mapping (SLAM), structure-from-motion (SfM), and situational awareness.…

Machine learning on graph structured data has attracted much research interest due to its ubiquity in real world data. However, how to efficiently represent graph data in a general way is still an open problem. Traditional methods use…

Graph Transformers, which incorporate self-attention and positional encoding, have recently emerged as a powerful architecture for various graph learning tasks. Despite their impressive performance, the complex non-convex interactions…

Owing to the recent developments in Generative Artificial Intelligence (GenAI) and Large Language Models (LLM), conversational agents are becoming increasingly popular and accepted. They provide a human touch by interacting in ways familiar…

Skeleton sequences are lightweight and compact, and thus are ideal candidates for action recognition on edge devices. Recent skeleton-based action recognition methods extract features from 3D joint coordinates as spatial-temporal cues,…

Grasping in cluttered scenes is challenging for robot vision systems, as detection accuracy can be hindered by partial occlusion of objects. We adopt a reinforcement learning (RL) framework and 3D vision architectures to search for feasible…

Automatic Robotic Assembly Sequence Planning (RASP) can significantly improve productivity and resilience in modern manufacturing along with the growing need for greater product customization. One of the main challenges in realizing such…

Distributed graph signal processing algorithms require the network nodes to communicate by exchanging messages in order to achieve a common objective. These messages have a finite precision in realistic networks, which may necessitate to…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

We propose a novel system for active semi-supervised feature-based action recognition. Given time sequences of features tracked during movements our system clusters the sequences into actions. Our system is based on encoder-decoder…