相关论文: Gaussian Belief Propagation Network for Depth Comp…

Hybrid Bayesian Networks (HBNs), which contain both discrete and continuous variables, arise naturally in many application areas (e.g., image understanding, data fusion, medical diagnosis, fraud detection). This paper concerns inference in…

We introduce a novel training principle for probabilistic models that is an alternative to maximum likelihood. The proposed Generative Stochastic Networks (GSN) framework is based on learning the transition operator of a Markov chain whose…

Gaussian processes (GPs) have gained popularity as flexible machine learning models for regression and function approximation with an in-built method for uncertainty quantification. However, GPs suffer when the amount of training data is…

We propose an approach to do learning in Gaussian factor graphs. We treat all relevant quantities (inputs, outputs, parameters, latents) as random variables in a graphical model, and view both training and prediction as inference problems…

Graph Neural Networks (GNNs) have shown considerable effectiveness in a variety of graph learning tasks, particularly those based on the message-passing approach in recent years. However, their performance is often constrained by a limited…

In this paper, we propose a robust and efficient end-to-end non-local spatial propagation network for depth completion. The proposed network takes RGB and sparse depth images as inputs and estimates non-local neighbors and their affinities…

Shape completion, the problem of inferring the complete geometry of an object given a partial point cloud, is an important problem in robotics and computer vision. This paper proposes the Graph Attention Shape Completion Network (GASCN), a…

Graph neural networks (GNN) typically rely on localized message passing, requiring increasing depth to capture long range dependencies. In this work, we introduce Graph Linear Transformations, a linear transformation that realizes direct…

Probabilistic world models increase data efficiency of model-based reinforcement learning (MBRL) by guiding the policy with their epistemic uncertainty to improve exploration and acquire new samples. Moreover, the uncertainty-aware learning…

With the wide application of sparse ToF sensors in mobile devices, RGB image-guided sparse depth completion has attracted extensive attention recently, but still faces some problems. First, the fusion of multimodal information requires more…

While Gaussian processes (GPs) are the method of choice for regression tasks, they also come with practical difficulties, as inference cost scales cubic in time and quadratic in memory. In this paper, we introduce a natural and expressive…

To reduce the curse of dimensionality for Gaussian processes (GP), they can be decomposed into a Gaussian Process Network (GPN) of coupled subprocesses with lower dimensionality. In some cases, intermediate observations are available within…

The main function of depth completion is to compensate for an insufficient and unpredictable number of sparse depth measurements of hardware sensors. However, existing research on depth completion assumes that the sparsity -- the number of…

We argue the case for Gaussian Belief Propagation (GBP) as a strong algorithmic framework for the distributed, generic and incremental probabilistic estimation we need in Spatial AI as we aim at high performance smart robots and devices…

This paper proposes a framework for multi-robot systems to perform simultaneous learning and coverage of a domain of interest characterized by an unknown and potentially time-varying density function. To overcome the limitations of Gaussian…

Graph Neural Networks (GNNs) have demonstrated remarkable success in node classification tasks over relational data, yet their effectiveness often depends on the availability of complete node features. In many real-world scenarios, however,…

Graph convolutional neural networks~(GCNs) have recently demonstrated promising results on graph-based semi-supervised classification, but little work has been done to explore their theoretical properties. Recently, several deep neural…

Efficient vision transformer remains a bottleneck for high-resolution images and long-video related real-world applications. Generalized Spatial Propagation Network (GSPN) addresses this by replacing quadratic self-attention with a…

Depth completion aims to generate a dense depth map from the sparse depth map and aligned RGB image. However, current depth completion methods use extremely expensive 64-line LiDAR(about $100,000) to obtain sparse depth maps, which will…

Gaussian process regression (GPR) has been a well-known machine learning method for various applications such as uncertainty quantifications (UQ). However, GPR is inherently a data-driven method, which requires sufficiently large dataset.…