Related papers: O$^3$Afford: One-Shot 3D Object-to-Object Affordan…
Understanding object and its context are very important for robots when dealing with objects for completion of a mission. In this paper, an Affordance-based Ontology (ABO) is proposed for easy robot dealing with substantive and…
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…
We propose a new approach for Zero-Shot Human-Object Interaction Recognition in the challenging setting that involves interactions with unseen actions (as opposed to just unseen combinations of seen actions and objects). Our approach makes…
We present AnchorDP3, a diffusion policy framework for dual-arm robotic manipulation that achieves state-of-the-art performance in highly randomized environments. AnchorDP3 integrates three key innovations: (1) Simulator-Supervised Semantic…
Affordances are the possibilities of actions the environment offers to the individual. Ordinary objects (hammer, knife) usually have many affordances (grasping, pounding, cutting), and detecting these allow artificial agents to understand…
We present Actron3D, a framework that enables robots to acquire transferable 6-DoF manipulation skills from just a few monocular, uncalibrated, RGB-only human videos. At its core lies the Neural Affordance Function, a compact object-centric…
Generalizable articulated object manipulation is essential for home-assistant robots. Recent efforts focus on imitation learning from demonstrations or reinforcement learning in simulation, however, due to the prohibitive costs of…
Grounding object properties and relations in 3D scenes is a prerequisite for a wide range of artificial intelligence tasks, such as visually grounded dialogues and embodied manipulation. However, the variability of the 3D domain induces two…
Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models are often dominated by global object appearance and struggle…
Task driven object detection aims to detect object instances suitable for affording a task in an image. Its challenge lies in object categories available for the task being too diverse to be limited to a closed set of object vocabulary for…
Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variability…
Due to large variations in shape, appearance, and viewing conditions, object recognition is a key precursory challenge in the fields of object manipulation and robotic/AI visual reasoning in general. Recognizing object categories,…
Modeling how humans interact with objects is crucial for AI to effectively assist or mimic human behaviors. Existing studies for learning such ability primarily focus on static human-object interaction (HOI) patterns, such as contact and…
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…
Learning manipulation skills from human demonstration videos offers a promising path toward generalizable and interpretable robotic intelligence-particularly through the lens of actionable affordances. However, transferring such knowledge…
To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…
To substantially enhance robot intelligence, there is a pressing need to develop a large model that enables general-purpose robots to proficiently undertake a broad spectrum of manipulation tasks, akin to the versatile task-planning ability…
Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we…
Assistive robots operating in unstructured environments must understand not only what objects are, but what they can be used for. This requires grounding language-based action queries to objects that both afford the requested function and…
In this study, we address the problem of open-vocabulary mobile manipulation, where a robot is required to carry a wide range of objects to receptacles based on free-form natural language instructions. This task is challenging, as it…