Related papers: Fine-grained Affordance Annotation for Egocentric …
Reasoning the human-object interactions (HOI) is essential for deeper scene understanding, while object affordances (or functionalities) are of great importance for human to discover unseen HOIs with novel objects. Inspired by this, we…
Localizing functional regions of objects or affordances is an important aspect of scene understanding. In this work, we cast the problem of affordance segmentation as that of semantic image segmentation. In order to explore various levels…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance,…
Intelligent agents accomplish different tasks by utilizing various objects based on their affordance, but how to select appropriate objects according to task context is not well-explored. Current studies treat objects within the affordance…
Inferring the affordance of an object and grasping it in a task-oriented manner is crucial for robots to successfully complete manipulation tasks. Affordance indicates where and how to grasp an object by taking its functionality into…
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…
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…
Affordances - i.e. possibilities for action that an environment or objects in it provide - are important for robots operating in human environments to perceive. Existing approaches train such capabilities on annotated static images or…
Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with…
Perceiving and manipulating 3D articulated objects in diverse environments is essential for home-assistant robots. Recent studies have shown that point-level affordance provides actionable priors for downstream manipulation tasks. However,…
When interacting with objects, humans effectively reason about which regions of objects are viable for an intended action, i.e., the affordance regions of the object. They can also account for subtle differences in object regions based on…
The term "affordance" denotes the behavioral meaning of objects. We propose a cognitive architecture for the detection of affordances in the visual modality. This model is based on the internal simulation of movement sequences. For each…
This study investigates how text-driven object affordance, which provides prior knowledge about grasp types for each object, affects image-based grasp-type recognition in robot teaching. The researchers created labeled datasets of…
Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, for an intelligent robot, it is necessary to accurately…
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…
To be capable of lifelong learning in a real-life environment, robots have to tackle multiple challenges. Being able to relate physical properties they may observe in their environment to possible interactions they may have is one of them.…
Visual affordance grounding aims to segment all possible interaction regions between people and objects from an image/video, which is beneficial for many applications, such as robot grasping and action recognition. However, existing methods…
Grounding 3D object affordance seeks to locate objects' ''action possibilities'' regions in the 3D space, which serves as a link between perception and operation for embodied agents. Existing studies primarily focus on connecting visual…
Affordance denotes the potential interactions inherent in objects. The perception of affordance can enable intelligent agents to navigate and interact with new environments efficiently. Weakly supervised affordance grounding teaches agents…