Related papers: INTRA: Interaction Relationship-aware Weakly Super…
Affordance grounding aims to locate objects' "action possibilities" regions, which is an essential step toward embodied intelligence. Due to the diversity of interactive affordance, the uniqueness of different individuals leads to diverse…
Affordance grounding, a task to ground (i.e., localize) action possibility region in objects, which faces the challenge of establishing an explicit link with object parts due to the diversity of interactive affordance. Human has the ability…
Facilitating an entity's interaction with objects requires accurately identifying parts that afford specific actions. Weakly supervised affordance grounding (WSAG) seeks to imitate human learning from third-person demonstrations, where…
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…
Humans can perform previously unexperienced interactions with novel objects simply by observing others engage with them. Weakly-supervised affordance grounding mimics this process by learning to locate object regions that enable actions on…
What does it mean for a visual system to truly understand affordance? We argue that this understanding hinges on two complementary capacities: geometric perception, which identifies the structural parts of objects that enable interaction,…
Affordance grounding aims to localize the interaction regions for the manipulated objects in the scene image according to given instructions. A critical challenge in affordance grounding is that the embodied agent should understand human…
Humans excel at acquiring knowledge through observation. For example, we can learn to use new tools by watching demonstrations. This skill is fundamental for intelligent systems to interact with the world. A key step to acquire this skill…
Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While…
Grounding 3D scene affordance aims to locate interactive regions in 3D environments, which is crucial for embodied agents to interact intelligently with their surroundings. Most existing approaches achieve this by mapping semantics to 3D…
Visual affordance learning is a key component for robots to understand how to interact with objects. Conventional approaches in this field rely on pre-defined objects and actions, falling short of capturing diverse interactions in realworld…
Object affordance is an important concept in hand-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…
Visual affordance learning is crucial for robots to understand and interact effectively with the physical world. Recent advances in this field attempt to leverage pre-trained knowledge of vision-language foundation models to learn…
3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackle this problem via learning a mapping between 3D regions and…
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…
Perceiving potential ``action possibilities'' (\ie, affordance) regions of images and learning interactive functionalities of objects from human demonstration is a challenging task due to the diversity of human-object interactions.…
In this work, we focus on the task of weakly supervised affordance grounding, where a model is trained to identify affordance regions on objects using human-object interaction images and egocentric object images without dense labels.…
When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…
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…
Visual grounding, which aims to build a correspondence between visual objects and their language entities, plays a key role in cross-modal scene understanding. One promising and scalable strategy for learning visual grounding is to utilize…