相关论文: Manipulation-Oriented Object Perception in Clutter…

Acquiring knowledge about object interactions and affordances can facilitate scene understanding and human-robot collaboration tasks. As humans tend to use objects in many different ways depending on the scene and the objects' availability,…

Robotic manipulation faces critical challenges in understanding spatial affordances--the "where" and "how" of object interactions--essential for complex manipulation tasks like wiping a board or stacking objects. Existing methods, including…

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…

Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…

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…

Object affordance is an important concept in human-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…

Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding…

Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…

Visual affordances identify regions in an image with potential interactions, offering a novel paradigm for scene understanding. Recognizing affordances allows autonomous robots to act more naturally, could enhance human-robot interactions,…

Understanding spatial affordances -- comprising the contact regions of object interaction and the corresponding contact poses -- is essential for robots to effectively manipulate objects and accomplish diverse tasks. However, existing…

Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sample efficiency and limited generalisation. Existing methods…

Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…

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…

Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimensionality of the pose estimation problem, and partial…

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 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…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Object affordance reasoning, the ability to infer object functionalities based on physical properties, is fundamental for task-oriented planning and activities in both humans and Artificial Intelligence (AI). This capability, required for…

Robots need to understand their environment to perform their task. If it is possible to pre-program a visual scene analysis process in closed environments, robots operating in an open environment would benefit from the ability to learn it…