相关论文: HOIverse: A Synthetic Scene Graph Dataset With Hum…

Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

Collaborative filtering has been largely used to advance modern recommender systems to predict user preference. A key component in collaborative filtering is representation learning, which aims to project users and items into a low…

The analysis of events in dynamic environments poses a fundamental challenge in the development of intelligent agents and robots capable of interacting with humans. Current approaches predominantly utilize visual models. However, these…

Rich semantic information extraction plays a vital role on next-generation intelligent vehicles. Currently there is great amount of research focusing on fundamental applications such as 6D pose detection, road scene semantic segmentation,…

Human-object interaction recognition aims for identifying the relationship between a human subject and an object. Researchers incorporate global scene context into the early layers of deep Convolutional Neural Networks as a solution. They…

Human-centric 3D scene understanding has recently drawn increasing attention, driven by its critical impact on robotics. However, human-centric real-life scenarios are extremely diverse and complicated, and humans have intricate motions and…

Scene graph generation refers to the task of automatically mapping an image into a semantic structural graph, which requires correctly labeling each extracted object and their interaction relationships. Despite the recent success in object…

Scene understanding is a fundamental capability needed in many domains, ranging from question-answering to robotics. Unlike recent end-to-end approaches that must explicitly learn varying compositions of the same scene, our method reasons…

Deploying humanoid robots to interact with real-world environments--such as carrying objects or sitting on chairs--requires generalizable, lifelike motions and robust scene perception. Although prior approaches have advanced each capability…

Determining which image regions to concentrate on is critical for Human-Object Interaction (HOI) detection. Conventional HOI detectors focus on either detected human and object pairs or pre-defined interaction locations, which limits…

Indoor scene understanding is central to applications such as robot navigation and human companion assistance. Over the last years, data-driven deep neural networks have outperformed many traditional approaches thanks to their…

Human-centric scene understanding is significant for real-world applications, but it is extremely challenging due to the existence of diverse human poses and actions, complex human-environment interactions, severe occlusions in crowds, etc.…

Humans can perceive scenes in 3D from a handful of 2D views. For AI agents, the ability to recognize a scene from any viewpoint given only a few images enables them to efficiently interact with the scene and its objects. In this work, we…

3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…

Intelligent agents gather information and perceive semantics within the environments before taking on given tasks. The agents store the collected information in the form of environment models that compactly represent the surrounding…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

The scene graph is a new data structure describing objects and their pairwise relationship within image scenes. As the size of scene graph in vision applications grows, how to losslessly and efficiently store such data on disks or transmit…

As pretrained text-to-image diffusion models become increasingly powerful, recent efforts have been made to distill knowledge from these text-to-image pretrained models for optimizing a text-guided 3D model. Most of the existing methods…

'Actions' play a vital role in how humans interact with the world. Thus, autonomous agents that would assist us in everyday tasks also require the capability to perform 'Reasoning about Actions & Change' (RAC). Recently, there has been…