相关论文: Visual Affordance and Function Understanding: A Su…

We explore how intermediate policy representations can facilitate generalization by providing guidance on how to perform manipulation tasks. Existing representations such as language, goal images, and trajectory sketches have been shown to…

Classically, affordance research investigates how the shape of objects communicates actions to potential users. Cognitive affordances, a subset of this research, characterize how the design of objects influences cognitive actions, such as…

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…

Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…

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…

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…

A generalist robot equipped with learned skills must be able to perform many tasks in many different environments. However, zero-shot generalization to new settings is not always possible. When the robot encounters a new environment or…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Vision-language models (VLMs) have demonstrated remarkable capabilities in understanding human-object interactions, but their application to robotic systems with non-humanoid morphologies remains largely unexplored. This work investigates…

A growing field in robotics and Artificial Intelligence (AI) research is human-robot collaboration, whose target is to enable effective teamwork between humans and robots. However, in many situations human teams are still superior to…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…

Understanding what objects could furnish for humans-namely, learning object affordance-is the crux to bridge perception and action. In the vision community, prior work primarily focuses on learning object affordance with dense (e.g., at a…

It is well-established by cognitive neuroscience that human perception of objects constitutes a complex process, where object appearance information is combined with evidence about the so-called object "affordances", namely the types of…

For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understanding lies in detecting an object's affordances, which…

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…

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…

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…

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…

We address the problem of affordance reasoning in diverse scenes that appear in the real world. Affordances relate the agent's actions to their effects when taken on the surrounding objects. In our work, we take the egocentric view of the…

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…