相关论文: Are standard Object Segmentation models sufficient…

In this research work, we have demonstrated the application of Mask-RCNN (Regional Convolutional Neural Network), a deep-learning algorithm for computer vision and specifically object detection, to semiconductor defect inspection domain.…

Object segmentation requires both object-level information and low-level pixel data. This presents a challenge for feedforward networks: lower layers in convolutional nets capture rich spatial information, while upper layers encode…

Most computer vision research focuses on datasets containing thousands of images of commonplace objects. However, many high-impact datasets, such as those in medicine and the geosciences, contain fine-grain objects that require…

The use of machine learning to investigate grasp affordances has received extensive attention over the past several decades. The existing literature provides a robust basis to build upon, though a number of aspects may be improved. Results…

Region-based Convolutional Neural Networks (R-CNNs) have achieved great success in the field of object detection. The existing R-CNNs usually divide a Region-of-Interest (ROI) into grids, and then localize objects by utilizing the spatial…

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…

In this paper we propose an extension of the Attention Branch Network (ABN) by using instance segmentation for generating sharper attention maps for action recognition. Methods for visual explanation such as Grad-CAM usually generate blurry…

Object detection performance, as measured on the canonical PASCAL VOC dataset, has plateaued in the last few years. The best-performing methods are complex ensemble systems that typically combine multiple low-level image features with…

Real-world planning problems often involve hundreds or even thousands of objects, straining the limits of modern planners. In this work, we address this challenge by learning to predict a small set of objects that, taken together, would be…

Instance segmentation is the problem of detecting and delineating each distinct object of interest appearing in an image. Current instance segmentation approaches consist of ensembles of modules that are trained independently of each other,…

Affordance grounding focuses on predicting the specific regions of objects that are associated with the actions to be performed by robots. It plays a vital role in the fields of human-robot interaction, human-object interaction, embodied…

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…

Many computer vision systems require low-cost segmentation algorithms based on deep learning, either because of the enormous size of input images or limited computational budget. Common solutions uniformly downsample the input images to…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

This paper addresses the task of unsupervised video multi-object segmentation. Current approaches follow a two-stage paradigm: 1) detect object proposals using pre-trained Mask R-CNN, and 2) conduct generic feature matching for temporal…

We propose an end-to-end learning framework for segmenting generic objects in both images and videos. Given a novel image or video, our approach produces a pixel-level mask for all "object-like" regions---even for object categories never…

Recent efforts in deploying Deep Neural Networks for object detection in real world applications, such as autonomous driving, assume that all relevant object classes have been observed during training. Quantifying the performance of these…

Affordance knowledge is a fundamental aspect of commonsense knowledge. Recent findings indicate that world knowledge emerges through large-scale self-supervised pretraining, motivating our exploration of acquiring affordance knowledge from…

In order for robots to interact with objects effectively, they must understand the form and function of each object they encounter. Essentially, robots need to understand which actions each object affords, and where those affordances can be…

Traditional semantic segmentation methods can recognize at test time only the classes that are present in the training set. This is a significant limitation, especially for semantic segmentation algorithms mounted on intelligent autonomous…