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

A significant amount of redundancy exists between consecutive frames of a video. Object detectors typically produce detections for one image at a time, without any capabilities for taking advantage of this redundancy. Meanwhile, many…

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…

The ability to detect objects that are not prevalent in the training set is a critical capability in many 3D applications, including autonomous driving. Machine learning methods for object recognition often assume that all object categories…

Dexterous functional tool-use grasping is essential for effective robotic manipulation of tools. However, existing approaches face significant challenges in efficiently constructing large-scale datasets and ensuring generalizability to…

In recent years, deep neural networks (DNNs) have gained widespread adoption for continuous mobile object detection (OD) tasks, particularly in autonomous systems. However, a prevalent issue in their deployment is the one-size-fits-all…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…

Despite increasing research efforts on household robotics, robots intended for deployment in domestic settings still struggle with more complex tasks such as interacting with functional elements like drawers or light switches, largely due…

To be capable of lifelong learning in a real-life environment, robots have to tackle multiple challenges. Being able to relate physical properties they may observe in their environment to possible interactions they may have is one of them.…

Out-of-distribution (OOD) detection is vital to safety-critical machine learning applications and has thus been extensively studied, with a plethora of methods developed in the literature. However, the field currently lacks a unified,…

The detection of object states in images (State Detection - SD) is a problem of both theoretical and practical importance and it is tightly interwoven with other important computer vision problems, such as action recognition and affordance…

Few-shot object detection (FSOD) aims to detect never-seen objects using few examples. This field sees recent improvement owing to the meta-learning techniques by learning how to match between the query image and few-shot class examples,…

Object Detection on the mobile system is a challenge in terms of everything. Nowadays, many object detection models have been designed, and most of them concentrate on precision. However, the computation burden of those models on mobile…

To enable robots to use tools, the initial step is teaching robots to employ dexterous gestures for touching specific areas precisely where tasks are performed. Affordance features of objects serve as a bridge in the functional interaction…

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…

Affordances represent the inherent effect and action possibilities that objects offer to the agents within a given context. From a theoretical viewpoint, affordances bridge the gap between effect and action, providing a functional…

Accurate and reliable object detection is critical for ensuring the safety and efficiency of Connected Autonomous Vehicles (CAVs). Traditional on-board perception systems have limited accuracy due to occlusions and blind spots, while…

Short Term object-interaction Anticipation consists in detecting the location of the next active objects, the noun and verb categories of the interaction, as well as the time to contact from the observation of egocentric video. This ability…

Open-vocabulary object detection (OVD), detecting specific classes of objects using only their linguistic descriptions (e.g., class names) without any image samples, has garnered significant attention. However, in real-world applications,…

With the human pursuit of knowledge, open-set object detection (OSOD) has been designed to identify unknown objects in a dynamic world. However, an issue with the current setting is that all the predicted unknown objects share the same…

Open-Set Object Detection (OSOD) is crucial for autonomous driving, where perception systems must recognize and localize both known and previously unseen objects in complex, dynamic environments. While recent approaches deliver promising…