相关论文: Generating Actionable Robot Knowledge Bases by Com…
In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large language models enables robots to reason, plan, and navigate in…
Accurate environment perception is essential for automated vehicles. Since occlusions and inaccuracies regularly occur, the exchange and combination of perception data of multiple vehicles seems promising. This paper describes a method to…
The Spatial Knowledge Graphs (SKG) are experiencing growing adoption as a means to model real-world entities, proving especially invaluable in domains like crisis management and urban planning. Considering that RDF specifications offer…
3D semantic scene graphs (3DSSG) provide compact structured representations of environments by explicitly modeling objects, attributes, and relationships. While 3DSSGs have shown promise in robotics and embodied AI, many existing methods…
Service robots are increasingly deployed in diverse and dynamic environments, where both physical layouts and social contexts change over time and across locations. In these unstructured settings, conventional navigation systems that rely…
This paper addresses the challenges of registering two rigid semantic scene graphs, an essential capability when an autonomous agent needs to register its map against a remote agent, or against a prior map. The hand-crafted descriptors in…
Climate change impacts a broad spectrum of human resources and activities, necessitating the use of climate models to project long-term effects and inform mitigation and adaptation strategies. These models generate multiple datasets by…
A long-standing goal in scene understanding is to obtain interpretable and editable representations that can be directly constructed from a raw monocular RGB-D video, without requiring specialized hardware setup or priors. The problem is…
Generating adversarial scenarios, which have the potential to fail autonomous driving systems, provides an effective way to improve robustness. Extending purely data-driven generative models, recent specialized models satisfy additional…
In this article, we present the Layered Semantic Graphs (LSG), a novel actionable hierarchical scene graph, fully integrated with a multi-modal mission planner, the FLIE: A First-Look based Inspection and Exploration planner. The novelty of…
The development of embodied agents that can communicate with humans in natural language has gained increasing interest over the last years, as it facilitates the diffusion of robotic platforms in human-populated environments. As a step…
The success of smart environments largely depends on their smartness of understanding the environments' ongoing situations. Accordingly, this task is an essence to smart environment central processors. Obtaining knowledge from the…
A fundamental aspect for building intelligent autonomous robots that can assist humans in their daily lives is the construction of rich environmental representations. While advances in semantic scene representations have enriched robotic…
Despite increasing research efforts on household robotics, robots intended for deployment in domestic settings still struggle with more complex tasks such as interacting with functional elements like drawers or light switches, largely due…
Autonomous robots operating in complex, unstructured environments face significant challenges due to latent, unobserved factors that obscure their understanding of both their internal state and the external world. Addressing this challenge…
Current technological advances open up new opportunities for bringing human-machine interaction to a new level of human-centered cooperation. In this context, a key issue is the semantic understanding of the environment in order to enable…
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires capturing intricate geometry while understanding fine-grained…
The growing importance of environmental, social, and governance data in regulatory and investment contexts has increased the need for accurate, interpretable, and internationally aligned representations of non-financial risks, particularly…
Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…
Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…