Related papers: Physical Primitive Decomposition

Artificial object perception usually relies on a priori defined models and feature extraction algorithms. We study how the concept of object can be grounded in the sensorimotor experience of a naive agent. Without any knowledge about itself…

People often use physical intuition when manipulating articulated objects, irrespective of object semantics. Motivated by this observation, we identify an important embodied task where an agent must play with objects to recover their parts.…

In some sense, the world is composed of shapes and words, of continuous things and discrete things. The recognition and study of continuous objects in the form of shapes occupies a significant part of the effort of unraveling many geometric…

Combinatorics, like computer science, often has to deal with large objects of unspecified (or unusable) structure. One powerful way to deal with such an arbitrary object is to decompose it into more usable components. In particular, it has…

Interactive perception enables robots to manipulate the environment and objects to bring them into states that benefit the perception process. Deformable objects pose challenges to this due to significant manipulation difficulty and…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

As Physics did in previous centuries, there is currently a common dream of extracting generic laws of nature in economics, sociology, neuroscience, by focalising the description of phenomena to a minimal set of variables and parameters,…

This paper collects some characteristic aspects of the general model-building framework of the mechanics of complex bodies, that are bodies in which the material substructure influences prominently the gross behavior through interactions…

Interactions between human and objects are influenced not only by the object's pose and shape, but also by physical attributes such as object mass and surface friction. They introduce important motion nuances that are essential for…

Detecting the openable parts of articulated objects is crucial for downstream applications in intelligent robotics, such as pulling a drawer. This task poses a multitasking challenge due to the necessity of understanding object categories…

In this work, we explore a novel framework for control of complex systems called Primitive Imitation for Control PICO. The approach combines ideas from imitation learning, task decomposition, and novel task sequencing to generalize from…

This article surveys the literature on human-robot object handovers. A handover is a collaborative joint action where an agent, the giver, gives an object to another agent, the receiver. The physical exchange starts when the receiver first…

We assume that a sufficiently large database is available, where a physical property of interest and a number of associated ruling primitive variables or observables are stored. We introduce and test two machine learning approaches to…

We posit that embodied artificial intelligence is not only a computational, but also a materials problem. While the importance of material and structural properties in the control loop are well understood, materials can take an active role…

Time perception - how humans and animals perceive the passage of time - forms the basis for important cognitive skills such as decision-making, planning, and communication. In this work, we propose a framework for examining the mechanisms…

Our ability to interact with the world around us relies on being able to infer what actions objects afford -- often referred to as affordances. The neural mechanisms of object-action associations are realized in the visuomotor pathway where…

This paper presents Particle-based Object Manipulation (Prompt), a new approach to robot manipulation of novel objects ab initio, without prior object models or pre-training on a large object data set. The key element of Prompt is a…

In many tasks related to reasoning about consequences of a logical theory, it is desirable to decompose the theory into a number of weakly-related or independent components. However, a theory may represent knowledge that is subject to…

Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and deformable terrains. It would be of great benefit for robots to…

This paper presents an active approach for part-based object detection, which optimizes the order of part filter evaluations and the time at which to stop and make a prediction. Statistics, describing the part responses, are learned from…