Related papers: Redefining Affordance via Computational Rationalit…
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.…
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…
General value functions (GVFs) in the reinforcement learning (RL) literature are long-term predictive summaries of the outcomes of agents following specific policies in the environment. Affordances as perceived action possibilities with…
Affordances are the potential actions an agent can perform on an object, as observed by a camera. Visual affordance prediction is formulated differently for tasks such as grasping detection, affordance classification, affordance…
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.…
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…
Reasoning about object affordances allows an autonomous agent to perform generalised manipulation tasks among object instances. While current approaches to grasp affordance estimation are effective, they are limited to a single hypothesis.…
The perceptual experience of architecture is enacted by the sensory and motor system. When we act, we change the perceived environment according to a set of expectations that depend on our body and the built environment. The continuous…
Can a video generation model be repurposed as an interactive world simulator? We explore the affordance perception potential of text-to-video models by teaching them to predict human-environment interaction. Given a scene image and a prompt…
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…
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…
Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…
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,…
For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…
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,…
Affordance information about a scene provides important clues as to what actions may be executed in pursuit of meeting a specified goal state. Thus, integrating affordance-based reasoning into symbolic action plannning pipelines would…
Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of human-robot interaction, human-object interaction, embodied…
We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…
Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…
Autonomous agents, such as robots or intelligent devices, need to understand how to interact with objects and its environment. Affordances are defined as the relationships between an agent, the objects, and the possible future actions in…