相关论文: Are standard Object Segmentation models sufficient…

How do we know that a kitchen is a kitchen by looking? Relatively little is known about how we conceptualize and categorize different visual environments. Traditional models of visual perception posit that scene categorization is achieved…

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…

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…

Affordances enable robots to have a semantic understanding of their surroundings. This allows them to have more acting flexibility when completing a given task. Capturing object affordances in a machine learning model is a difficult task,…

Most methods for object instance segmentation require all training examples to be labeled with segmentation masks. This requirement makes it expensive to annotate new categories and has restricted instance segmentation models to ~100…

Object detection in natural environments is still a very challenging task, even though deep learning has brought a tremendous improvement in performance over the last years. A fundamental problem of object detection based on deep learning…

Planning in realistic environments requires searching in large planning spaces. Affordances are a powerful concept to simplify this search, because they model what actions can be successful in a given situation. However, the classical…

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…

Currently, instance segmentation is attracting more and more attention in machine learning region. However, there exists some defects on the information propagation in previous Mask R-CNN and other network models. In this paper, we propose…

Human activities comprise several sub-activities performed in a sequence and involve interactions with various objects. This makes reasoning about the object affordances a central task for activity recognition. In this work, we consider the…

Understanding human activities and object affordances are two very important skills, especially for personal robots which operate in human environments. In this work, we consider the problem of extracting a descriptive labeling of the…

State-of-the-art semantic or instance segmentation deep neural networks (DNNs) are usually trained on a closed set of semantic classes. As such, they are ill-equipped to handle previously-unseen objects. However, detecting and localizing…

Obtaining precise instance segmentation masks is of high importance in many modern applications such as robotic manipulation and autonomous driving. Currently, many state of the art models are based on the Mask R-CNN framework which, while…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

Recent segmentation models couple large language models (LLMs) with mask decoders to ground complex language expressions into masks, yet their instructions remain target-referential: they describe, constrain, or imply the region to be…

In the quest to enable robots to coexist with humans, understanding dynamic situations and selecting appropriate actions based on common sense and affordances are essential. Conventional AI systems face challenges in applying affordance, as…

Mask R-CNN has recently achieved great success in the field of instance segmentation. However, weaknesses of the algorithm have been repeatedly pointed out as well, especially in the segmentation of long, sparse objects whose orientation is…

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,…

Instance segmentation is a form of image detection which has a range of applications, such as object refinement, medical image analysis, and image/video editing, all of which demand a high degree of accuracy. However, this precision is…

Nuclei segmentation is both an important and in some ways ideal task for modern computer vision methods, e.g. convolutional neural networks. While recent developments in theory and open-source software have made these tools easier to…