相关论文: Assured Autonomy with Neuro-Symbolic Perception

Neuro-symbolic reinforcement learning (NS-RL) has emerged as a promising paradigm for explainable decision-making, characterized by the interpretability of symbolic policies. NS-RL entails structured state representations for tasks with…

Effectively capturing intricate interactions among road users is of critical importance to achieving safe navigation for autonomous vehicles. While graph learning (GL) has emerged as a promising approach to tackle this challenge, existing…

Real-world robotic applications, from autonomous exploration to assistive technologies, require adaptive, interpretable, and data-efficient learning paradigms. While deep learning architectures and foundation models have driven significant…

Causal and temporal reasoning about video dynamics is a challenging problem. While neuro-symbolic models that combine symbolic reasoning with neural-based perception and prediction have shown promise, they exhibit limitations, especially in…

This paper presents a novel keypoints-based attention mechanism for visual recognition in still images. Deep Convolutional Neural Networks (CNNs) for recognizing images with distinctive classes have shown great success, but their…

We present a system for 3D semantic scene perception consisting of a network of distributed smart edge sensors. The sensor nodes are based on an embedded CNN inference accelerator and RGB-D and thermal cameras. Efficient vision CNN models…

Semantic grids can be useful representations of the scene around an autonomous system. By having information about the layout of the space around itself, a robot can leverage this type of representation for crucial tasks such as navigation…

Pre-trained seq2seq models excel at graph semantic parsing with rich annotated data, but generalize worse to out-of-distribution (OOD) and long-tail examples. In comparison, symbolic parsers under-perform on population-level metrics, but…

Learning to infer labels in an open world, i.e., in an environment where the target "labels" are unknown, is an important characteristic for achieving autonomy. Foundation models pre-trained on enormous amounts of data have shown remarkable…

Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…

Recent scene graph generation (SGG) frameworks have focused on learning complex relationships among multiple objects in an image. Thanks to the nature of the message passing neural network (MPNN) that models high-order interactions between…

Human capabilities in understanding visual relations are far superior to those of AI systems, especially for previously unseen objects. For example, while AI systems struggle to determine whether two such objects are visually the same or…

We revisit the classic signal-to-symbol barrier in light of the remarkable ability of deep neural networks to generate realistic synthetic data. DeepFakes and spoofing highlight the feebleness of the link between physical reality and its…

Artificial intelligence (AI) has emerged as a transformative force across industries, driven by advances in deep learning and natural language processing, and fueled by large-scale data and computing resources. Despite its rapid adoption,…

There are two main algorithmic approaches to autonomous driving systems: (1) An end-to-end system in which a single deep neural network learns to map sensory input directly into appropriate warning and driving responses. (2) A mediated…

Biomedical datasets are often modeled as knowledge graphs (KGs) because they capture the multi-relational, heterogeneous, and dynamic natures of biomedical systems. KG completion (KGC), can, therefore, help researchers make predictions to…

Automotive Cyber-Physical Systems (ACPS) have attracted a significant amount of interest in the past few decades, while one of the most critical operations in these systems is the perception of the environment. Deep learning and,…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

Similarly to other connectionist models, Graph Neural Networks (GNNs) lack transparency in their decision-making. A number of sub-symbolic approaches have been developed to provide insights into the GNN decision making process. These are…

In this paper we propose the construction of linguistic descriptions of images. This is achieved through the extraction of scene description graphs (SDGs) from visual scenes using an automatically constructed knowledge base. SDGs are…