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FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction

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arXiv 2025年

作者： Rotondi, Dennis Scaparro, Fabio Blum, Hermann Arras, Kai O. Socially Intelligent Robotics Lab Institute for Artificial Intelligence University of Stuttgart Germany Robot Perception and Learning Lab LAMARR Institute for Machine Learning and Artificial Intelligence University of Bonn Germany

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to develop a representation that enables robots to directly interact with their environment by identifying both the location of functional interactive elements and how these can be used. To achieve this, we focus on detecting and storing objects at a finer resolution, focusing on affordance-relevant parts. The primary challenge lies in the scarcity of data that extends beyond instance-level detection and the inherent difficulty of capturing detailed object features using robotic sensors. We leverage currently available 3D resources to generate 2D data and train a detector, which is then used to augment the standard 3D scene graph generation pipeline. Through our experiments, we demonstrate that our approach achieves functional element segmentation comparable to state-of-the-art 3D models and that our augmentation enables task-driven affordance grounding with higher accuracy than the current solutions. © 2025, CC BY-NC-ND.

关键词： Semantics

Pedestrians and Robots: A Novel Dataset for learning Distinct Social Navigation Forces

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arXiv 2025年

作者： Agrawal, Subham Ostermann-Myrau, Nico Dengler, Nils Bennewitz, Maren Humanoid Robots Lab University of Bonn Germany Lamarr Institute for Machine Learning and Artificial Intelligence The Center for Robotics Bonn Germany

The increasing use of robots in human-centric public spaces such as shopping malls, sidewalks, and hospitals, requires understanding of how pedestrians respond to their presence. However, existing research lacks comprehensive datasets that capture the full range of pedestrian behaviors, e.g., including avoidance, neutrality, and attraction in the presence of robots. Such datasets can be used to effectively learn models capable of accurately predicting diverse responses of pedestrians to robot presence, which are crucial for advancing robot navigation strategies and optimizing pedestrian-aware motion planning. In this paper, we address these challenges by collecting a novel dataset of pedestrian motion in two outdoor locations under three distinct conditions, i.e., no robot presence, a stationary robot, and a moving robot. Thus, unlike existing datasets, ours explicitly encapsulates variations in pedestrian behavior across the different robot conditions. Using our dataset, we propose a novel Neural Social Robot Force Model (NSRFM), an extension of the traditional Social Force Model that integrates neural networks and robot-induced forces to better predict pedestrian behavior in the presence of robots. We validate the NSRFM by comparing its generated trajectories on different real-world datasets. Furthermore, we implemented it in simulation to enable the learning and benchmarking of robot navigation strategies based on their impact on pedestrian movement. Our results demonstrate the model’s effectiveness in replicating real-world pedestrian reactions and its its utility in developing, evaluating, and benchmarking social robot navigation algorithms. Copyright © 2025, The Authors. All rights reserved.

关键词： Social robots

Sustainable Grid through Distributed Data Centers Spinning AI Demand for Grid Stabilization and Optimization

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arXiv 2025年

作者： Evans, Scott C. Dahlin, Nathan Ndiaye, Ibrahima Ekanayake, Sachini Piyoni Duncan, Alexander Rose, Blake Huang, Hao AI-Machine Learning Robotics Lab United States Electrification Mission United States ECE Department University at Albany SUNY United States

We propose a disruptive paradigm to actively place and schedule TWhrs of parallel AI jobs strategically on the grid, at distributed, grid-aware high performance compute data centers (HPC) capable of using their massive power and energy load to stabilize the grid while reducing grid build-out requirements, maximizing use of renewable energy, and reducing Green House Gas (GHG) emissions. Our approach will enable the creation of new, value adding markets for spinning compute demand, providing market based incentives that will drive the joint optimization of energy and learning. © 2025, CC BY.

关键词： Stabilization

GO-VMP: Global Optimization for View Motion Planning in Fruit Mapping

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arXiv 2025年

作者： Jose, Allen Isaac Pan, Sicong Zaenker, Tobias Menon, Rohit Houben, Sebastian Bennewitz, Maren Bonn-Rhein-Sieg University of Applied Sciences Germany Humanoid Robots Lab University of Bonn Germany Fraunhofer Institute for Intelligent Analysis and Information Systems Germany Humanoid Robots Lab University of Bonn Lamarr Institute for Machine Learning and Artificial Intelligence Center for Robotics University of Bonn Germany

Automating labor-intensive tasks such as crop monitoring with robots is essential for enhancing production and conserving resources. However, autonomously monitoring horticulture crops remains challenging due to their complex structures, which often result in fruit occlusions. Existing view planning methods attempt to reduce occlusions but either struggle to achieve adequate coverage or incur high robot motion costs. We introduce a global optimization approach for view motion planning that aims to minimize robot motion costs while maximizing fruit coverage. To this end, we leverage coverage constraints derived from the set covering problem (SCP) within a shortest Hamiltonian path problem (SHPP) formulation. While both SCP and SHPP are well-established, their tailored integration enables a unified framework that computes a global view path with minimized motion while ensuring full coverage of selected targets. Given the NP-hard nature of the problem, we employ a region-prior-based selection of coverage targets and a sparse graph structure to achieve effective optimization outcomes within a limited time. Experiments in simulation demonstrate that our method detects more fruits, enhances surface coverage, and achieves higher volume accuracy than the motion-efficient baseline with a moderate increase in motion cost, while significantly reducing motion costs compared to the coverage-focused baseline. Real-world experiments further confirm the practical applicability of our approach. Copyright © 2025, The Authors. All rights reserved.

关键词： Fruits

Sensor Query Schedule and Sensor Noise Covariances for Accuracy-constrained Trajectory Estimation

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IEEE robotics and Automation Letters 2025年第7期10卷 6983-6990页

作者： Goudar, Abhishek Schoellig, Angela P. Technical University of Munich Learning Systems and Robotics Lab Germany University of Toronto Institute for Aerospace Studies Canada University of Toronto Robotics Institute Munich Institute of Robotics and Machine Intelligence (MIRMI) Vector Institute for Artificial Intelligence Canada

Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using sensors. The accuracy of such a procedure is dictated by the system model fidelity and the sensor parameters, such as the accuracy of the sensor (as represented by its noise covariance) and the rate at which it can generate observations, referred to as the sensor query schedule. Intuitively, high-rate measurements from accurate sensors lead to accurate trajectory estimation. However, cost and resource constraints limit the sensor accuracy and its measurement rate. Our work's novel contribution is the estimation of sensor schedules and sensor covariances necessary to achieve a specific estimation accuracy. Concretely, we focus on estimating: (i) the rate or schedule with which a sensor of known covariance must generate measurements to achieve specific estimation accuracy, and alternatively, (ii) the sensor covariance necessary to achieve specific estimation accuracy for a given sensor update rate. We formulate the problem of estimating these sensor parameters as semidefinite programs, which can be solved by off-the-shelf solvers. We validate our approach in simulation and real experiments by showing that the sensor schedules and the sensor covariances calculated using our proposed method achieve the desired trajectory estimation accuracy. Our method also identifies scenarios where certain estimation accuracy is unachievable with the given system and sensor characteristics. © 2016 IEEE.

关键词： Localization Optimization and Optimal control Probability and Statistical Methods

POMDP manipulation via trajectory optimization

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POMDP manipulation via trajectory optimization

IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015

作者： Vien, Ngo Anh Toussaint, Marc Machine Learning and Robotics Lab University of Stuttgart Germany

ISBN: (纸本)9781479999941

Efficient object manipulation based only on force feedback typically requires a plan of actively contact-seeking actions to reduce uncertainty over the true environmental model. In principle, that problem could be formulated as a full partially observable Markov decision process (POMDP) whose observations are sensed forces indicating the presence/absence of contacts with objects. Such a naive application leads to a very large POMDP with high-dimensional continuous state, action and observation spaces. Solving such large POMDPs is practically prohibitive. In other words, we are facing three challenging problems: 1) uncertainty over discontinuous contacts with objects;2) high-dimensional continuous spaces;3) optimization for not only trajectory cost but also execution time. As trajectory optimization is a powerful model-based method for motion generation, it can handle the last two issues effectively by computing locally optimal trajectories. This paper aims to integrate advantages of trajectory optimization into existing POMDP solvers. The full POMDP formulation is solved using sample-based approaches, where each sampled model is quickly evaluated via trajectory optimization instead of simulating a large number of rollouts. To further accelerate the solver, we propose to integrate temporal abstraction, i.e. macro actions or temporal actions, into the POMDP model. We demonstrate the proposed method on a simulated 7 DoF KUKA arm and a physical Willow Garage PR2 platform. The results show that our proposed method could effectively seek contacts in complex scenarios, and achieve near-optimal performance of path planing. © 2015 IEEE.

关键词： Trajectories

Touch based POMDP manipulation via sequential submodular optimization 15

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Touch based POMDP manipulation via sequential submodular opt...

15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015

作者： Vien, Ngo Anh Toussaint, Marc Machine Learning and Robotics Lab University of Stuttgart Germany

ISBN: (纸本)9781479968855

Exploiting the submodularity of entropy-related objectives has recently led to a series of successes in machine learning and sequential decision making. Its generalized framework, adaptive submodularity, has later been introduced to deal with uncertainty and partially observability, achieving near-optimal performance with simple greedy policies. As a consequence, adaptive submodularity is in principle a promising candidate for efficient touch-based localization in robotics. However, applying that method directly on the motion level shows poor scaling with the dimensionality of the system. Being motivated by hierarchical partially observable Markov decision process (POMDP) planning, we integrate an action hierarchy into the existing adaptive submodularity framework. The proposed algorithm is expected to effectively generate uncertainty-reducing actions with the help from an action hierarchy. Experimental results on both, a simulated robot and a Willow Garage PR2 platform, demonstrate the efficiency of our algorithm. © 2015 IEEE.

关键词： Markov processes

Policy search in reproducing kernel Hilbert space 25

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Policy search in reproducing kernel Hilbert space

25th International Joint Conference on Artificial Intelligence, IJCAI 2016

作者： Vien, Ngo Anh Englert, Peter Toussaint, Marc Machine Learning and Robotics Lab University of Stuttgart Germany

Modeling policies in reproducing kernel Hilbert space (RKHS) renders policy gradient reinforcement learning algorithms non-parametric. As a result, the policies become very flexible and have a rich representational potential without a predefined set of features. However, their performances might be either non-covariant under reparameterization of the chosen kernel, or very sensitive to step-size selection. In this paper, we propose to use a general framework to derive a new RKHS policy search technique. The new derivation leads to both a natural RKHS actor-critic algorithm and a RKHS expectation maximization (EM) policy search algorithm. Further, we show that kernelization enables us to learn in partially observable (POMDP) tasks which is considered daunting for parametric approaches. Via sparsification, a small set of "support vectors" representing the history is shown to be effectively discovered. For evaluations, we use three simulated (PO)MDP reinforcement learning tasks, and a simulated PR2's robotic manipulation task. The results demonstrate the effectiveness of the new RKHS policy search framework in comparison to plain RKHS actor-critic, episodic natural actor-critic, plain actor-critic, and PoWER approaches.

关键词： Reinforcement learning

Constrained Bayesian optimization of combined interaction force/task space controllers for manipulations

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Constrained Bayesian optimization of combined interaction fo...

2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Dries, Danny Englert, Peter Toussaint, Marc Machine Learning and Robotics Lab University of Stuttgart Germany

ISBN: (纸本)9781509046331

In this paper, we address the problem of how a robot can optimize parameters of combined interaction force/task space controllers under a success constraint in an active way. To enable the robot to explore its environment robustly, safely and without the risk of damaging anything, suitable control concepts have to be developed that enable compliant and force control in situations that are afflicted with high uncertainties. Instances of such concepts are impedance, operational space or hybrid control. However, the parameters of these controllers have to be tuned precisely in order to achieve reasonable performance, which is inherently challenging, as often no sufficient model of the environment is available. To overcome this, we propose to use constrained Bayesian optimization to enable the robot to tune its controller parameters autonomously. Unlike other controller tuning methods, this method allows us to include a success constraint into the optimization. Further, we introduce novel performance measures for compliant, force controlled robots. In real world experiments we show that our approach is able to optimize the parameters for a task that consists of establishing and maintaining contact between the robot and the environment efficiently and successfully. © 2017 IEEE.

关键词： Constrained optimization