Estimating robot pose from a monocular RGB image is a challenge in robotics and computer vision. Existing methods typically build networks on top of 2D visual backbones and depend heavily on labeled data for training, which is often scarce in real-world scenarios, causing a sim-to-real gap. Moreover, these approaches reduce the 3D-based problem to 2D domain, neglecting the 3D priors. T o address these, we propose Robot T opological Alignment Graph (RoboTAG), which incorporates a 3D branch to inject 3D priors while enabling co-evolution of the 2D and 3D representations, alleviating the reliance on labels. Specifically, the RoboTAG consists of a 3D branch and a 2D branch, where nodes represent the states of the camera and robot system, and edges capture the dependencies between these variables or denote alignments between them. Closed loops are then defined in the graph, on which a consistency supervision across branches can be applied. This design allows us to utilize in-the-wild images as training data without annotations. Experimental results demonstrate that our method is effective across robot types, highlighting its potential to alleviate the data bottleneck in robotics.

Answering complex questions over textual resources remains a challenge, particularly when dealing with nuanced relationships between multiple entities expressed within natural-language sentences. To this end, curated knowledge bases (KBs) like YAGO, DBpedia, Freebase, and Wikidata have been widely used and gained great acceptance for question-answering (QA) applications in the past decade. While these KBs offer a structured knowledge representation, they lack the contextual diversity found in natural-language sources. To address this limitation, BigText-QA introduces an integrated QA approach, which is able to answer questions based on a more redundant form of a knowledge graph (KG) that organizes both structured and unstructured (i.e., "hybrid") knowledge in a unified graphical representation. Thereby, BigText-QA is able to combine the best of both worlds$\unicode{x2013}$a canonical set of named entities, mapped to a structured background KB (such as YAGO or Wikidata), as well as an open set of textual clauses providing highly diversified relational paraphrases with rich context information. Our experimental results demonstrate that BigText-QA outperforms DrQA, a neural-network-based QA system, and achieves competitive results to QUEST, a graph-based unsupervised QA system.

After a period of decrease, interest in word alignments is increasing again for their usefulness in domains such as typological research, cross-lingual annotation projection, and machine translation. Generally, alignment algorithms only use bitext and do not make use of the fact that many parallel corpora are multiparallel. Here, we compute high-quality word alignments between multiple language pairs by considering all language pairs together. First, we create a multiparallel word alignment graph, joining all bilingual word alignment pairs in one graph. Next, we use graph neural networks (GNNs) to exploit the graph structure. Our GNN approach (i) utilizes information about the meaning, position, and language of the input words, (ii) incorporates information from multiple parallel sentences, (iii) adds and removes edges from the initial alignments, and (iv) yields a prediction model that can generalize beyond the training sentences. We show that community detection provides valuable information for multiparallel word alignment. Our method outperforms previous work on three word-alignment datasets and on a downstream task.