涉及的文章：

• 相近工作
  • [[Part-level Scene Reconstruction Affords Robot Interaction]]
  • [[Scene Reconstruction with Functional Objects for Robot Autonomy]]
  • [[Reasoning with Scene Graphs for Robot Planning under Partial Observability]]
  • [[ACDC- Automated Creation of Digital Cousins for Robust Policy Learning]]
  • [[CLIP-Fields- Weakly Supervised Semantic Fields for Robotic Memory]]
  • [[Factorizable Net= An Efficient Subgraph-based Framework for Scene Graph Generation]]
  • [[SayPlan= Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning]]
  • [[ConceptGraphs= Open-Vocabulary 3D Scene Graphs for Perception and Planning]]
• 数据生成
  • [[PHYSCENE- Physically Interactable 3D Scene Synthesis for Embodied AI]]
• 数据集
  • CLEVR
  • Visual Genome
• 其他
  • [[SceneGraphFusion- Incremental 3D Scene Graph Prediction from RGB-D Sequences]]
  • [[Visual Relationship Detection with Language Priors]]
  • [[Image generation from scene graphs]]
  • [[(FCSGG) Fully Convolutional Scene Graph Generation]]
  • [[RelTR= Relation Transformer for Scene Graph Generation]]
  • [[Scene Graph Generation by Iterative Message Passing]]
  • [[From Pixels to Graphs= Open-Vocabulary Scene Graph Generation with Vision-Language Models]]
  • [[(VtransE) Visual Translation Embedding Network for Visual Relation Detection]]
  • [[(UVtransE) Contextual Translation Embedding for Visual Relationship Detection and Scene Graph Generation]]
  • [[(RLSV) Representation Learning for Scene Graph Completion via Jointly Structural and Visual Embedding]]
  • [[Energy-Based Learning for Scene Graph Generation]]

研究目标

通过构建part-level scene-graph，结合Reasoning with LLM 让机器人能够实现更复杂的交互，并以此完成更复杂的任务。

Scene Graph Introduction

Background

Visual scene understanding长期以来一直被认为是计算机视觉的圣杯

Rapid scene understanding at all levels

Generally

Visual scene understanding 可以被分为两块任务

• recognition task

  • image level
    • image classification
      • [[DINO]]
      • [[CLIP多模态预训练模型]]
  • pixel level
    • semantic segmentation: classify each pixel in an image into a category
      • Mask RCNN
      • U-Net
  • instance level
    • instance segmentation: detect and delineate each individual object instance in an image (bounding boxes or segmentation masks)
      • [[Grounding-DINO]]
      • [[Gounded-SAM]]
  • pixel & instance level
    • [[Panoptic Segmentation]]: takes into account both per-pixel class and instance labels
      • [[MaskDINO]]
      • [[Semantic-SAM]]
  

• application task

  • …

Relation & Interaction

但是以上这些Generally的工作注重的都是the localization of objects，更高级别的任务强调探索对象之间的丰富语义关系，以及对象与周围环境的相互作用

• 视觉关系检测（VRD）
  • [[GPS-Net= Graph Property Sensing Network for Scene Graph Generation]]
  • [[Large-scale visual relationship understanding]]
• 人类对象相互作用（HOI）
  • …

CV & NLP

除此之外还有将NLP和CV结合起来的方向，主要是一些VLM

• image caption
• visual question answering
• visual dialog

Structured Representation of Scene (Scene Graph)

对于总体场景的感知和信息的有效表示仍然是瓶颈。
所以Li Feifei 在[[Image Retrieval using Scene Graphs]]提出Scene Graph

与Structured Representation相对的是Latent Representation

Scene Graph Definition

A scene graph is a structural representation, which can capture detailed semantics by explicitly Modeling

• objects (‘‘man’’, ‘‘fire hydrant’’, ‘‘shorts’’)
• attributes of objects (‘‘fire hydrant is yellow’’)
• relations between paired objects (‘‘man jumping over fire hydrant’’)

A scene graph is a set of visual relationship triplets in the form of <subject, relation, object> or <object, is, attribute>

Scene graphs should serve as an objective semantic representation of the state of the scene

为什么选择scene graph

Scene Graph具有应对和改善其他视觉任务的内在潜力。
可以解决的视觉任务包括：

• Image captioning
  • take an image as an input and parse it into a scene graph, and then generate a reasonable text as output.
• Visual question answering
• Content-based image retrieval
• Image generation
  • extracting scene graphs from the text description and then generate realistic images
    • [[Image generation from scene graphs]]
• referring expression comprehension

Scene Graph Generation

场景图生成的目的是解析图像或一系列图像，并且生成结构化表示，以此弥合视觉和语义感知之间的差距，并最终达到对视觉场景的完整理解。
任务的本质是检测视觉关系。

先驱工作

早先由Feifei [[Visual Relationship Detection with Language Priors]] 提出了视觉关系检测的方法。
以及Visual Genome这个包含物体关系的数据集

生成方法

Two-stage

Detects objects first and then solves a classification task to determine the relationship between each pair of objects

**General:** a) 通过图片获取 subject/object and union box proposals (ROI感兴趣区域)

b) 提取每个区域的特征。包括object的appearance, spatial information, label, depth, and mask；predicate的appearance, spatial, depth, and mask。

• Fast/Faster R-CNN

c) 这些多模态特征被 vectorized, combined, and refined。可以通过：

• message passing mechanisms
  • [[Scene Graph Generation by Iterative Message Passing]]
• attention mechanisms
• visual translation embedding

d) 分类器用于预测predicate的类别

基于Visual translation embedding的

• Translation between Subject and Object (subject+predicate ≈ object)
  • [[(VtransE) Visual Translation Embedding Network for Visual Relation Detection]]
• Translation among Subject, Object and Predicate
  • [[(UVtransE) Contextual Translation Embedding for Visual Relationship Detection and Scene Graph Generation]]
  • [[(RLSV) Representation Learning for Scene Graph Completion via Jointly Structural and Visual Embedding]]

One-stage!!!

Simultaneously detects and recognizes objects and relations
相较于two-stage:

• 需要更少的计算资源和参数
• 不会受到object detection的质量影响
  Example:
• [[(FCSGG) Fully Convolutional Scene Graph Generation]] (bottom-up + RAF)
• [[RelTR= Relation Transformer for Scene Graph Generation]] (bottom-up)
• [[SGTR= End-to-end Scene Graph Generation with Transformer]] (top-down)

Open-Vocabulary

基本都是基于LLM或者VLM之类的大模型

• [[From Pixels to Graphs= Open-Vocabulary Scene Graph Generation with Vision-Language Models]]
• [[ConceptGraphs= Open-Vocabulary 3D Scene Graphs for Perception and Planning]]

Scene Graph小结

这里所有的工作都是关于如何判断两个独立物体之间的谓语关系（例如riding, holding…），并没有涉及part-level relationship的工作。part-level的父子关系和object-level的谓语关系是很不一样的。

不基于Scene Graph 的场景理解方法

隐式场景

即场景信息存储在一个神经网络中，并没有显式的结构，规划器（可以是LLM）通过query这个模型来获得信息。

• [[CLIP-Fields- Weakly Supervised Semantic Fields for Robotic Memory]]
  • 无结构化，只提供语义查询，定位

数字表亲场景

核心思想是用交互更丰富的模型组合成可交互的替代场景。

• [[Scene Reconstruction with Functional Objects for Robot Autonomy]]
• [[ACDC- Automated Creation of Digital Cousins for Robust Policy Learning]]
  • 通既有的精细模型库来拟合场景中的物体，可以实现更丰富的交互，对家常物品zero-shot，但是精度有限，不能应对复杂物体

Contact Graph (可以认为是Scene Graph的扩展)

主要用于建模物体之间的运动学关系

• [[Scene Reconstruction with Functional Objects for Robot Autonomy]]
• [[Part-level Scene Reconstruction Affords Robot Interaction]]
  • 这个涉及到了父子之间的运动学关系

Scene Graph & Robots

将 scene graph 用于机器人任务理解和规划

• [[SayPlan= Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning]]
• [[Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation]]
• [[ConceptGraphs= Open-Vocabulary 3D Scene Graphs for Perception and Planning]]

和李飞飞[[ACDC- Automated Creation of Digital Cousins for Robust Policy Learning]]的思想类似。