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

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variability…

Visual affordance segmentation identifies image regions of an object an agent can interact with. Existing methods re-use and adapt learning-based architectures for semantic segmentation to the affordance segmentation task and evaluate on…

High-performance object detection relies on expensive convolutional networks to compute features, often leading to significant challenges in applications, e.g. those that require detecting objects from video streams in real time. The key to…

We address the task of predicting what parts of an object can open and how they move when they do so. The input is a single image of an object, and as output we detect what parts of the object can open, and the motion parameters describing…

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…

Online action detection (OAD) is challenging since 1) robust yet computationally expensive features cannot be straightforwardly used due to the real-time processing requirements and 2) the localization and classification of actions have to…

Objects, in particular tools, provide several action possibilities to the agents that can act on them, which are generally associated with the term of affordances. A tool is typically designed for a specific purpose, such as driving a nail…

Affordance refers to the perception of possible actions allowed by an object. Despite its relevance to human-computer interaction, no existing theory explains the mechanisms that underpin affordance-formation; that is, how affordances are…

Existing 3D object detectors encounter extreme challenges in localizing unseen 3D objects and recognizing them as unseen, which is a crucial technology in autonomous driving in the wild. To address these challenges, we propose practical…

Few-shot object detection has drawn increasing attention in the field of robotic exploration, where robots are required to find unseen objects with a few online provided examples. Despite recent efforts have been made to yield online…

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

Robots are often required to operate in environments where humans are not present, but yet require the human context information for better human-robot interaction. Even when humans are present in the environment, detecting their presence…

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…

Object recognition is among the fundamental tasks in the computer vision applications, paving the path for all other image understanding operations. In every stage of progress in object recognition research, efforts have been made to…

Video object segmentation aims at accurately segmenting the target object regions across consecutive frames. It is technically challenging for coping with complicated factors (e.g., shape deformations, occlusion and out of the lens). Recent…

The concept of affordance is important to understand the relevance of object parts for a certain functional interaction. Affordance types generalize across object categories and are not mutually exclusive. This makes the segmentation of…

Humans have the remarkable ability to perceive objects as a whole, even when parts of them are occluded. This ability of amodal perception forms the basis of our perceptual and cognitive understanding of our world. To enable robots to…

Out-of-distribution (OOD) detection empowers the model trained on the closed image set to identify unknown data in the open world. Though many prior techniques have yielded considerable improvements in this research direction, two crucial…

Few-shot anomaly detection (FSAD) has emerged as a crucial yet challenging task in industrial inspection, where normal distribution modeling must be accomplished with only a few normal images. While existing approaches typically employ…