ICRA 24 Symbolic - Honda Research Institute USA

ICRA 24 Symbolic

Symbolic Graph Inference for Compound Scene Understanding

FNU Aryan Simon Stepputtis Sarthak Bhagat Joseph Campbell Kwonjoon Lee Hossein Nourkhiz Mahjoub Katia Sycara

ICRA 2024 workshop on Ontologies and Standards for Robotics and Automation (ICRA-WOSRA 2024)

Scene understanding is a fundamental capability needed in many domains, ranging from question-answering to robotics. Unlike recent end-to-end approaches that must explicitly learn varying compositions of the same scene, our method reasons over their constituent objects and analyzes their arrangement to infer a scene's meaning. We propose a novel approach that reasons over a scene's scene- and knowledge-graph, capturing spatial information while being able to utilize general domain knowledge in a joint graph search. Empirically, we demonstrate the feasibility of our method on the ADE20K dataset and compare it to current scene understanding approaches.

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