相关论文: H2G: Hierarchy-Aware Hyperbolic Grouping for 3D Sc…

Scene graph aims to faithfully reveal humans' perception of image content. When humans analyze a scene, they usually prefer to describe image gist first, namely major objects and key relations in a scene graph. This humans' inherent…

Higher-dimensional spaces are ubiquitous in applications of mathematics. Yet, as we live in a three-dimensional space, visualizing, say, a four-dimensional space is challenging. We introduce a novel method of interactive visualization of…

In this paper, we present an active exploration framework for high-fidelity 3D reconstruction that incrementally builds a multi-level uncertainty space and selects next-best-views through an uncertainty-driven motion planner. We introduce a…

Hierarchical clustering is a recursive partitioning of a dataset into clusters at an increasingly finer granularity. Motivated by the fact that most work on hierarchical clustering was based on providing algorithms, rather than optimizing a…

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…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…

Hierarchical relations are prevalent and indispensable for organizing human knowledge captured by a knowledge graph (KG). The key property of hierarchical relations is that they induce a partial ordering over the entities, which needs to be…

Hierarchical reinforcement learning deals with the problem of breaking down large tasks into meaningful sub-tasks. Autonomous discovery of these sub-tasks has remained a challenging problem. We propose a novel method of learning sub-tasks…

Electroencephalography (EEG)-based brain-computer interfaces facilitate direct communication with a computer, enabling promising applications in human-computer interactions. However, their utility is currently limited because EEG decoding…

Event cameras, with microsecond temporal resolution and high dynamic range (HDR) characteristics, emit high-speed event stream for perception tasks. Despite the recent advancement in GNN-based perception methods, they are prone to use…

Evolution of visual object recognition architectures based on Convolutional Neural Networks & Convolutional Deep Belief Networks paradigms has revolutionized artificial Vision Science. These architectures extract & learn the real world…

3D morphable models are widely used for the shape representation of an object class in computer vision and graphics applications. In this work, we focus on deep 3D morphable models that directly apply deep learning on 3D mesh data with a…

Hierarchical image recognition seeks to predict class labels along a semantic taxonomy, from broad categories to specific ones, typically under the tidy assumption that every training image is fully annotated along its taxonomy path.…

3D visual grounding aims to automatically locate the 3D region of the specified object given the corresponding textual description. Existing works fail to distinguish similar objects especially when multiple referred objects are involved in…

3D spatial perception is the problem of building and maintaining an actionable and persistent representation of the environment in real-time using sensor data and prior knowledge. Despite the fast-paced progress in robot perception, most…

Due to its geometric properties, hyperbolic space can support high-fidelity embeddings of tree- and graph-structured data, upon which various hyperbolic networks have been developed. Existing hyperbolic networks encode geometric priors not…

Image/video data is usually represented with multiple visual features. Fusion of multi-source information for establishing the attributes has been widely recognized. Multi-feature visual recognition has recently received much attention in…

We present a visually grounded hierarchical planning algorithm for long-horizon manipulation tasks. Our algorithm offers a joint framework of neuro-symbolic task planning and low-level motion generation conditioned on the specified goal. At…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

Hyperbolic geometry have shown significant potential in modeling complex structured data, particularly those with underlying tree-like and hierarchical structures. Despite the impressive performance of various hyperbolic neural networks…