相关论文: Geometric Priors for Generalizable World Models vi…

This paper presents a transformative framework for artificial neural networks over graded vector spaces, tailored to model hierarchical and structured data in fields like algebraic geometry and physics. By exploiting the algebraic…

Parsing human poses in images is fundamental in extracting critical visual information for artificial intelligent agents. Our goal is to learn self-contained body part representations from images, which we call visual symbols, and their…

Recently, Convolutional Neural Networks have shown promising results for 3D geometry prediction. They can make predictions from very little input data such as a single color image. A major limitation of such approaches is that they only…

The choice of visual representation is key to scaling generalist robot policies. However, direct evaluation via policy rollouts is expensive, even in simulation. Existing proxy metrics focus on the representation's capacity to capture…

Image-based volumetric humans using pixel-aligned features promise generalization to unseen poses and identities. Prior work leverages global spatial encodings and multi-view geometric consistency to reduce spatial ambiguity. However,…

Vision-Language-Action (VLA) models are promising for generalist robot manipulation but remain brittle in out-of-distribution (OOD) settings, especially with limited real-robot data. To resolve the generalization bottleneck, we introduce a…

This paper presents GenH2R, a framework for learning generalizable vision-based human-to-robot (H2R) handover skills. The goal is to equip robots with the ability to reliably receive objects with unseen geometry handed over by humans in…

The online construction of vectorized high-definition (HD) maps is a cornerstone of modern autonomous driving systems. State-of-the-art approaches, particularly those based on the DETR framework, formulate this as an instance detection…

Constructing transferable descriptors for conformation representation of molecular and biological systems finds numerous applications in drug discovery, learning-based molecular dynamics, and protein mechanism analysis. Geometric graph…

Vector symbolic architectures (VSAs) are a family of information representation techniques which enable composition, i.e., creating complex information structures from atomic vectors via binding and superposition, and have recently found…

While current deep learning models achieve high performance by learning statistical correlations from vast datasets,which stands in stark contrast to human learning. They lack the flexibility of humans-particularly preverbal infants-to…

Understanding and interacting with everyday physical scenes requires rich knowledge about the structure of the world, represented either implicitly in a value or policy function, or explicitly in a transition model. Here we introduce a new…

Vision-Language-Action (VLA) models show promise for robotic control, yet performance in complex household environments remains sub-optimal. Mobile manipulation requires reasoning about global scene layout, fine-grained geometry, and…

There are two main lines of research on visual question answering (VQA): compositional model with explicit multi-hop reasoning, and monolithic network with implicit reasoning in the latent feature space. The former excels in…

Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…

World models aim to capture the states and dynamics of an environment in a compact latent space. Moreover, using Boolean state representations is particularly useful for search heuristics and symbolic reasoning and planning. Existing…

Generalized zero-shot learning (GZSL) tackles the problem of learning to classify instances involving both seen classes and unseen ones. The key issue is how to effectively transfer the model learned from seen classes to unseen classes.…

Machine Learning surrogates for Computational Fluid Dynamics (CFD), particularly Graph Neural Networks (GNNs) and Transformers, have become a new important approach for accelerating physics simulations. However, we identify a critical…

Foundation Models (FMs) have demonstrated remarkable insights into the relational dynamics of the world, leading to the crucial question: how do these models acquire an understanding of world hybrid relations? Traditional statistical…

We introduce GSU, a text-only grid dataset to evaluate the spatial reasoning capabilities of LLMs over 3 core tasks: navigation, object localization, and structure composition. By forgoing visual inputs, isolating spatial reasoning from…