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[ECCV22] Learning Algebraic Representation for Systematic Generalization in Abstract Reasoning

Is intelligence realized by connectionist or classicist? While connectionist approaches have achieved superhuman performance, there has …

Chi Zhang, Sirui Xie, Baoxiong Jia, Ying Nian Wu, Song-Chun Zhu, Yixin Zhu

[ECCV22] Learning Algebraic Representation for Systematic Generalization in Abstract Reasoning

[IROS22] Sequential Manipulation Planning on Scene Graph

We devise a 3D scene graph representation, contact graph+ (cg+), for efficient sequential manipulation planning. Augmented with …

Ziyuan Jiao, Yida Niu, Zeyu Zhang, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

[IROS22] Sequential Manipulation Planning on Scene Graph

[IROS22] Downwash-aware Control Allocation for Over-actuated UAV Platforms

Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles …

Yao Su, Chi Chu, Meng Wang, Jiarui Li, Liu Yang, Yixin Zhu, Hangxin Liu

[IROS22] Downwash-aware Control Allocation for Over-actuated UAV Platforms

[ICML22] Latent Diffusion Energy-Based Model for Interpretable Text Modeling

Latent space Energy-Based Models (EBMs), also known as energy-based priors, have drawn growing interests in generative modeling. Fueled …

Peiyu Yu, Sirui Xie, Xiaojian Ma, Baoxiong Jia, Bo Pang, Ruiqi Gao, Yixin Zhu, Ying Nian Wu, Song-Chun Zhu

[ICML22] Latent Diffusion Energy-Based Model for Interpretable Text Modeling

[CogSci22] What Is the Point? A Theory of Mind Model of Relevance

Although pointing is sparse, overloaded, and indirect, it allows humans to effectively decode shared information, (ex)change their …

Kaiwen Jiang, Annya Dahmani, Stephanie Stacy, Boxuan Jiang, Federico Rossano, Yixin Zhu, Tao Gao

[NeurIPS21] Unsupervised Foreground Extraction via Deep Region Competition

We present Deep Region Competition (DRC), an algorithm designed to extract foreground objects from images in a fully unsupervised …

Peiyu Yu, Sirui Xie, Xiaojian Ma, Yixin Zhu, Ying Nian Wu, Song-Chun Zhu

[ICCV21] YouRefIt: Embodied Reference Understanding with Language and Gesture

We study the machine’s understanding of embodied reference: One agent uses both language and gesture to refer to an object to …

Yixin Chen, Qing Li, Deqian Kong, Yik Lun Kei, Song-Chun Zhu, Tao Gao, Yixin Zhu, Siyuan Huang

[ICCV21] YouRefIt: Embodied Reference Understanding with Language and Gesture

[ICCV21] Spatio-temporal Self-Supervised Representation Learning for 3D Point Clouds

To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate …

Siyuan Huang, Yichen Xie, Song-Chun Zhu, Yixin Zhu

[ICCV21] Spatio-temporal Self-Supervised Representation Learning for 3D Point Clouds

[IROS21] Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations

We construct a Virtual Kinematic Chain (VKC) that readily consolidates the kinematics of the mobile base, the arm, and the object to be …

Ziyuan Jiao, Zeyu Zhang, Xin Jiang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

[IROS21] Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations

[IROS21] Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective

We present a Virtual Kinematic Chain (VKC) perspective, a simple yet effective method, to improve task planning efficacy for mobile …

Ziyuan Jiao, Zeyu Zhang, Weiqi Wang, David Han, Song-Chun Zhu, Yixin Zhu, Hangxin Liu

[IROS21] Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective