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Shima Shahfar

Collaborateur·rice de recherche - Université de Montréal
Superviseur⋅e principal⋅e
Liam Paull
Sujets de recherche
Apprentissage multimodal
Navigation robotique autonome
Vision et langage
Vision par ordinateur
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GitHub

Publications

Predictive Spatio-Temporal Scene Graphs for Semi-Static Scenes
Miguel Saavedra-Ruiz
Charlie Gauthier
Kumaraditya Gupta
Shima Shahfar
Kirsty Ellis
Steven Parkison
Liam Paull
We have seen tremendous recent progress in our ability to build "spatio-semantic" representations that enable robots to perform complex reas… (voir plus)oning across geometry and semantics. However, the vast majority of these methods lack any ability to perform reasoning across time. This is a desirable property in situations where a robot repeatedly observes an environment where instances may change in between observations, but in a structured way. Consider as an example a home environment where the location of a mug typically moves from the cupboard to a countertop to the sink and then back to the cupboard on a daily basis. We should be able to learn this cyclic behavior and use it to predict the state of the mug in the future. In this work, we propose a method that is able to perform this type of tempo-spatio-semantic reasoning. Underpinning the method is a filter, Perpetua
2026-04-29
arXiv (prépublication)
doi.org
arxiv.org