相关论文: Recognizing Object Affordances to Support Scene Re…

In order for robots to follow open-ended instructions like "go open the brown cabinet over the sink", they require an understanding of both the scene geometry and the semantics of their environment. Robotic systems often handle these…

Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…

This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment…

The concept of function and affordance is a critical aspect of 3D scene understanding and supports task-oriented objectives. In this work, we develop a model that learns to structure and vary functional affordance across a 3D hierarchical…

Modern scene text recognition systems often depend on large end-to-end architectures that require extensive training and are prohibitively expensive for real-time scenarios. In such cases, the deployment of heavy models becomes impractical…

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.…

Understanding fine-grained object affordances is imperative for robots to manipulate objects in unstructured environments given open-ended task instructions. However, existing methods of visual affordance predictions often rely on manually…

The unsupervised pretraining of object detectors has recently become a key component of object detector training, as it leads to improved performance and faster convergence during the supervised fine-tuning stage. Existing unsupervised…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

Many everyday objects are difficult to directly grasp (e.g., a flat iPad) or manipulate functionally (e.g., opening the cap of a pen lying on a desk). Such tasks require sequential, asymmetric coordination between two arms, where one arm…

The physical and textural attributes of objects have been widely studied for recognition, detection and segmentation tasks in computer vision.~A number of datasets, such as large scale ImageNet, have been proposed for feature learning using…

Affordance detection aims to jointly address the fundamental "what-where-how" challenge in embodied AI by understanding "what" an object is, "where" the object is located, and "how" it can be used. However, most affordance learning methods…

Intelligent embodied agents should not simply follow instructions, as real-world environments often involve unexpected conditions and exceptions. However, existing methods usually focus on directly executing instructions, without…

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…

The ability to autonomously explore and navigate a physical space is a fundamental requirement for virtually any mobile autonomous agent, from household robotic vacuums to autonomous vehicles. Traditional SLAM-based approaches for…

With significant annotation savings, point supervision has been proven effective for numerous 2D and 3D scene understanding problems. This success is primarily attributed to the structured output space; i.e., samples with high spatial…

As a common image editing operation, image composition involves integrating foreground objects into background scenes. In this paper, we expand the application of the concept of Affordance from human-centered image composition tasks to a…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…

Affordance detection presents intricate challenges and has a wide range of robotic applications. Previous works have faced limitations such as the complexities of 3D object shapes, the wide range of potential affordances on real-world…

Affordance reasoning in 3D Gaussian scenes aims to identify the region that supports the action specified by a given text instruction in complex environments. Existing methods typically cast this problem as one-shot prediction from static…