Related papers: An Approach For Robots To Deal With Objects

Humans have a rich representation of the entities in their environment. Entities are described by their attributes, and entities that share attributes are often semantically related. For example, if two books have "Natural Language…

Robotic task instructions often involve a referred object that the robot must locate (ground) within the environment. While task intent understanding is an essential part of natural language understanding, less effort is made to resolve…

In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…

Robotic manipulation faces critical challenges in understanding spatial affordances--the "where" and "how" of object interactions--essential for complex manipulation tasks like wiping a board or stacking objects. Existing methods, including…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

We explore how intermediate policy representations can facilitate generalization by providing guidance on how to perform manipulation tasks. Existing representations such as language, goal images, and trajectory sketches have been shown to…

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…

As robotic systems become increasingly integrated into complex real-world environments, there is a growing need for approaches that enable robots to understand and act upon natural language instructions without relying on extensive…

Human cognition can leverage fundamental conceptual knowledge, like geometric and kinematic ones, to appropriately perceive, comprehend and interact with novel objects. Motivated by this finding, we aim to endow machine intelligence with an…

Nowadays, robots are dominating the manufacturing, entertainment and healthcare industries. Robot vision aims to equip robots with the ability to discover information, understand it and interact with the environment. These capabilities…

For successful deployment of robots in multifaceted situations, an understanding of the robot for its environment is indispensable. With advancing performance of state-of-the-art object detectors, the capability of robots to detect objects…

Robots require knowledge about objects in order to efficiently perform various household tasks involving objects. The existing knowledge bases for robots acquire symbolic knowledge about objects from manually-coded external common sense…

Object permanence in psychology means knowing that objects still exist even if they are no longer visible. It is a crucial concept for robots to operate autonomously in uncontrolled environments. Existing approaches learn object permanence…

For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Personal service robots are increasingly used in domestic settings to assist older adults and people requiring support. Effective operation involves not only physical interaction but also the ability to interpret dynamic environments,…

Robots need to understand their environment to perform their task. If it is possible to pre-program a visual scene analysis process in closed environments, robots operating in an open environment would benefit from the ability to learn it…

Situationally-aware artificial agents operating with competence in natural environments face several challenges: spatial awareness, object affordance detection, dynamic changes and unpredictability. A critical challenge is the agent's…

Constructing a diverse repertoire of manipulation skills in a scalable fashion remains an unsolved challenge in robotics. One way to address this challenge is with unstructured human play, where humans operate freely in an environment to…