相关论文: One-Shot Object Affordance Detection in the Wild

In recent years, there has been a renewed interest in jointly modeling perception and action. At the core of this investigation is the idea of modeling affordances(Affordances are opportunities of interaction in the scene. In other words,…

Object detection has achieved a huge breakthrough with deep neural networks and massive annotated data. However, current detection methods cannot be directly transferred to the scenario where the annotated data is scarce due to the severe…

We tackle the challenging problem of Open-Set Object Detection (OSOD), which aims to detect both known and unknown objects in unlabelled images. The main difficulty arises from the absence of supervision for these unknown classes, making it…

While unlabeled image data is often plentiful, the costs of high-quality labels pose an important practical challenge: Which images should one select for labeling to use the annotation budget for a particular target task most effectively?…

Given a collection of bags where each bag is a set of images, our goal is to select one image from each bag such that the selected images are from the same object class. We model the selection as an energy minimization problem with unary…

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…

Reasoning about object grasp affordances allows an autonomous agent to estimate the most suitable grasp to execute a task. While current approaches for estimating grasp affordances are effective, their prediction is driven by hypotheses on…

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…

This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The proposed approach provides direct information about what the…

3D affordance grounding aims to highlight the actionable regions on 3D objects, which is crucial for robotic manipulation. Previous research primarily focused on learning affordance knowledge from static cues such as language and images,…

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…

Affordance prediction serves as a critical bridge between perception and action in embodied AI. However, existing research is confined to pinhole camera models, which suffer from narrow Fields of View (FoV) and fragmented observations,…

In this work, we tackle one-shot visual search of object parts. Given a single reference image of an object with annotated affordance regions, we segment semantically corresponding parts within a target scene. We propose AffCorrs, an…

In this abstract we describe recent [4,7] and latest work on the determination of affordances in visually perceived 3D scenes. Our method builds on the hypothesis that geometry on its own provides enough information to enable the detection…

Few-shot object detection (FSOD) aims at learning a detector that can fast adapt to previously unseen objects with scarce annotated examples, which is challenging and demanding. Existing methods solve this problem by performing subtasks of…

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…

It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments. Towards building scalable systems that can perform diverse manipulation tasks over various 3D…

When interacting with objects, humans effectively reason about which regions of objects are viable for an intended action, i.e., the affordance regions of the object. They can also account for subtle differences in object regions based on…

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…

In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…