Related papers: A Sketch-Based System for Human-Guided Constrained…
3D modeling based on point clouds is an efficient way to reconstruct and create detailed 3D content. However, the geometric procedure may lose accuracy due to high redundancy and the absence of an explicit structure. In this work, we…
In this paper, we present a novel method of motion planning for performing complex manipulation tasks by using human demonstration and exploiting the screw geometry of motion. We consider complex manipulation tasks where there are…
Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…
We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…
3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…
Accurately drawing 3D objects is difficult for untrained individuals, as it requires an understanding of perspective and its effects on geometry and proportions. Step-by-step tutorials break the complex task of sketching an entire object…
Sketching is an important activity in any design process. Designers and stakeholders share their ideas through hand-drawn sketches. These sketches are further used to create 3D models. Current methods to generate 3D models from sketches are…
Sketching is used as a ubiquitous tool of expression by novices and experts alike. In this thesis I explore two methods that help a system provide a geometric machine-understanding of sketches, and in-turn help a user accomplish a…
Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding…
In this paper, we are interested in the problem of generating target grasps by understanding freehand sketches. The sketch is useful for the persons who cannot formulate language and the cases where a textual description is not available on…
Affordance, defined as the potential actions that an object offers, is crucial for embodied AI agents. For example, such knowledge directs an agent to grasp a knife by the handle for cutting or by the blade for safe handover. While existing…
Affordance learning considers the interaction opportunities for an actor in the scene and thus has wide application in scene understanding and intelligent robotics. In this paper, we focus on contextual affordance learning, i.e., using…
In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed affordance constraints, of the objects involved. Affordance…
Sketches, with their expressive potential, allow humans to convey the essence of an object through even a rough contour. For the first time, we harness this expressive potential to improve segmentation performance in challenging tasks like…
We present a sketch-based CAD modeling system, where users create objects incrementally by sketching the desired shape edits, which our system automatically translates to CAD operations. Our approach is motivated by the close similarities…
In this paper we explore the richness of information captured by the latent space of a vision-based generative model. The model combines unsupervised generative learning with a task-based performance predictor to learn and to exploit…
In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…
To enable robots to use tools, the initial step is teaching robots to employ dexterous gestures for touching specific areas precisely where tasks are performed. Affordance features of objects serve as a bridge in the functional interaction…
Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…
Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…