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Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

We consider the problem of learning object arrangements in a 3D scene. The key idea here is to learn how objects relate to human poses based on their affordances, ease of use and reachability. In contrast to modeling object-object…

Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…

This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The focus of the object affordance is on reasoning how to…

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image. SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and…

Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…

Scene graph prediction --- classifying the set of objects and predicates in a visual scene --- requires substantial training data. However, most predicates only occur a handful of times making them difficult to learn. We introduce the first…

Despite the great success object detection and segmentation models have achieved in recognizing individual objects in images, performance on cognitive tasks such as image caption, semantic image retrieval, and visual QA is far from…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Camera equipped drones are nowadays being used to explore large scenes and reconstruct detailed 3D maps. When free space in the scene is approximately known, an offline planner can generate optimal plans to efficiently explore the scene.…

Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or…

In this paper we propose a neural message passing approach to augment an input 3D indoor scene with new objects matching their surroundings. Given an input, potentially incomplete, 3D scene and a query location, our method predicts a…

We propose an end-to-end solution to address the problem of object localisation in partial scenes, where we aim to estimate the position of an object in an unknown area given only a partial 3D scan of the scene. We propose a novel scene…

Achieving social acceptance is one of the main goals of Social Robotic Navigation. Despite this topic has received increasing interest in recent years, most of the research has focused on driving the robotic agent along obstacle-free…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

An autonomous robot should be able to evaluate the affordances that are offered by a given situation. Here we address this problem by designing a system that can densely predict affordances given only a single 2D RGB image. This is achieved…

The ability of predicting the future is important for intelligent systems, e.g. autonomous vehicles and robots to plan early and make decisions accordingly. Future scene parsing and optical flow estimation are two key tasks that help agents…

When exploring new areas, robotic systems generally exclusively plan and execute controls over geometry that has been directly measured. When entering space that was previously obstructed from view such as turning corners in hallways or…

This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused…