Related papers: Affordances in Robotic Tasks -- A Survey

This study explores which factors of the visual design of a robot may influence how humans would place it in a collaborative cooking scenario and how these features may influence task delegation. Human participants were placed in a Virtual…

In this paper, we place ourselves in the context of human robot interaction and address the problem of cognitive robot modelling. More precisely we are investigating properties of a utility-based model that will govern a robot's actions.…

Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen scenes, we develop an approach for learning visual…

Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity. Leveraging powerful 3D generative models and vision…

Visual affordances identify regions in an image with potential interactions, offering a novel paradigm for scene understanding. Recognizing affordances allows autonomous robots to act more naturally, could enhance human-robot interactions,…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior remains challenging. Prior work either relies on robot data…

While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…

As robots become more adaptable, responsive, and capable of interacting with humans, the design of effective human-robot collaboration becomes critical. Yet, this design process is typically led by monodisciplinary approaches, often…

This position paper addresses the fallacies associated with the improper use of affordances in the opportunistic design of augmented reality (AR) applications. While opportunistic design leverages existing physical affordances for content…

Affordance detection refers to identifying the potential action possibilities of objects in an image, which is an important ability for robot perception and manipulation. To empower robots with this ability in unseen scenarios, we consider…

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…

Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing application across various fields. Among these benefits,…

Robots and artificial machines have been captivating the public for centuries, depicted first as threats to humanity, then as subordinates and helpers. In the last decade, the booming exposure of humans to robots has fostered an increasing…

The notion of preferences plays an important role in many disciplines including service robotics which is concerned with scenarios in which robots interact with humans. These interactions can be favored by robots taking human preferences…

This discussion paper aims to support the argument process for the need to develop a comprehensive science of resilient robotic autonomy. Resilience and its key characteristics relating to robustness, redundancy, and resourcefulness are…

The word semantics, in robotics and AI, has no canonical definition. It usually serves to denote additional data provided to autonomous agents to aid HRI. Most researchers seem, implicitly, to understand that such data cannot simply be…

In the ecological approach to perception and action, information that specifies affordances is available in the energy arrays surrounding organisms, and this information is detected by organisms in order to perceptually guide their actions.…

Classically, affordance research investigates how the shape of objects communicates actions to potential users. Cognitive affordances, a subset of this research, characterize how the design of objects influences cognitive actions, such as…

Affordance grounding refers to the task of finding the area of an object with which one can interact. It is a fundamental but challenging task, as a successful solution requires the comprehensive understanding of a scene in multiple aspects…