Real-Time Scene Graph Generation

Scene Graph Generation (SGG) can extract abstract semantic relations between entities in images as graph representations. This task holds strong promises for other downstream tasks such as the embodied cognition of an autonomous agent. However, to power such applications, SGG needs to solve the gap of real-time latency. In this work, we propose to investigate the bottlenecks of current approaches for real-time constraint applications. Then, we propose a simple yet effective implementation of a real-time SGG approach using YOLOV8 as an object detection backbone. Our implementation is the first to obtain more than 48 FPS for the task with no loss of accuracy, successfully outperforming any other lightweight approaches. Our code is freely available at https://github.com/Maelic/SGG-Benchmark.

Commonsense Reasoning for Identifying and Understanding the Implicit Need of Help and Synthesizing Assistive Actions

Human-Robot Interaction (HRI) is an emerging subfield of service robotics. While most existing approaches rely on explicit signals (i.e. voice, gesture) to engage, current literature is lacking solutions to address implicit user needs. In this paper, we present an architecture to (a) detect user implicit need of help and (b) generate a set of assistive actions without prior learning. Task (a) will be performed using state-of-the-art solutions for Scene Graph Generation coupled to the use of commonsense knowledge; whereas, task (b) will be performed using additional commonsense knowledge as well as a sentiment analysis on graph structure. Finally, we propose an evaluation of our solution using established benchmarks (e.g. ActionGenome dataset) along with human experiments. The main motivation of our approach is the embedding of the perception-decision-action loop in a single architecture.