2 citations · 3 across the 9 of their papers we have counts for
19 papers · 1 filter
An Information-Space Perspective to Scene Graph Sufficiency for Robotic Task Planning
Başak Sakçak, Francesco Verdoja
Planning in complex environments requires task specifications grounded in representations that capture objects, relations, and affordances; scene graphs meet this need, but their s…
ReGIL: Retrieval-Guided Imitation Learning from a Single Demonstration
Yuying Zhang, Francesco Verdoja, Wenyan Yang +1
Learning robot manipulation policies with deep neural networks from a single demonstration remains highly challenging, as even small deviations from the demonstrated trajectory can…
Rheos: Modelling Continuous Motion Dynamics in Hierarchical 3D Scene Graphs
Iacopo Catalano, Francesco Verdoja, Javier Civera +2
3D Scene Graphs (3DSGs) provide hierarchical, multi-resolution abstractions that encode the geometric and semantic structure of an environment, yet their treatment of dynamics rema…
Relational Scene Graphs for Object Grounding of Natural Language Commands
Julia Kuhn, Francesco Verdoja, Tsvetomila Mihaylova +1
Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the rob…
Event-Grounding Graph: Unified Spatio-Temporal Scene Graph from Robotic Observations
Phuoc Nguyen, Francesco Verdoja, Ville Kyrki
A fundamental aspect for building intelligent autonomous robots that can assist humans in their daily lives is the construction of rich environmental representations. While advance…
QuASH: Using Natural-Language Heuristics to Query Visual-Language Robotic Maps
Matti Pekkanen, Francesco Verdoja, Ville Kyrki
Embeddings from Visual-Language Models are increasingly utilized to represent semantics in robotic maps, offering an open-vocabulary scene understanding that surpasses traditional,…