3D Spatial Pattern Matching

Spatial pattern matching is the process of matching query entities and constraints with database entities and relations. It has many applications, including similar region search, housing market search, landmark search, and road network matching. To our knowledge, all existing spatial pattern matching approaches frame the problem in a 2 dimensional space, where entities lie in a cartesian plane and relationships defined between them are contained in 2 dimensions. However, this problem framing has significant limitations when searching for real world entities that have height in addition to position. To address this limitation, we extend spatial pattern matching to 3 dimensions and provide a generalized definition of the problem. We describe a subgraph matching algorithm capable of resolving 3D spatial patterns over distance relations and release two 3D spatial pattern matching datasets, one synthetic and one containing real 3D building data from the city of Hamburg, Germany. We test our subgraph matching algorithm on both datasets and present results as a baseline for future methods to build upon.

Robot Learning from Human Videos: A Survey

A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human video data has attracted rapidly growing attention in recent years, driven by the abundance of human activity videos and advances in computer vision. This line of research promises to enable robots to acquire skills passively from the vast and readily available resource of human demonstrations, substantially favoring scalable learning for generalist robotic systems. Therefore, we present this survey to provide a comprehensive and up-to-date review of human-video-based learning techniques in robotics, focusing on both human-robot skill transfer and data foundations. We first review the policy learning foundations in robotics, and then describe the fundamental interfaces to incorporate human videos. Subsequently, we introduce a hierarchical taxonomy of transferring human videos to robot skills, covering task-, observation-, and action-oriented pathways, along with a cross-family analysis of their couplings with different data configurations and learning paradigms. In addition, we investigate the data foundations including widely-used human video datasets and video generation schemes, and provide large-scale statistical trends in dataset development and utilization. Ultimately, we emphasize the challenges and limitations intrinsic to this field, and delineate potential avenues for future research. The paper list of our survey is available at https://github.com/IRMVLab/awesome-robot-learning-from-human-videos.