相关论文: Affordance Template Registration via Human-in-the-…

Humans excel at learning from expert demonstrations and solving their own problems. To equip intelligent robots and assistants, such as AR glasses, with this ability, it is essential to ground human hand interactions (i.e., affordances)…

We present AROS, a one-shot learning approach that uses an explicit representation of interactions between highly-articulated human poses and 3D scenes. The approach is one-shot as the method does not require re-training to add new…

Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to…

Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior remains challenging. Prior work either relies on robot data…

The general public often encounters complex texts but does not have the time or expertise to fully understand them, leading to the spread of misinformation. Automatic Text Simplification (ATS) helps make information more accessible, but its…

Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…

Automated Text Scoring (ATS) provides a cost-effective and consistent alternative to human marking. However, in order to achieve good performance, the predictive features of the system need to be manually engineered by human experts. We…

Large amounts of annotated data have become more important than ever, especially since the rise of deep learning techniques. However, manual annotations are costly. We propose a tool that enables researchers to create large, high-quality,…

Humans perceive and interact with the world with the awareness of equivariance, facilitating us in manipulating different objects in diverse poses. For robotic manipulation, such equivariance also exists in many scenarios. For example, no…

Recently developed deep neural networks achieved state-of-the-art results in the subject of 6D object pose estimation for robot manipulation. However, those supervised deep learning methods require expensive annotated training data. Current…

Furniture assembly is a crucial yet challenging task for robots, requiring precise dual-arm coordination where one arm manipulates parts while the other provides collaborative support and stabilization. To accomplish this task more…

Human drivers produce a vast amount of data which could, in principle, be used to improve autonomous driving systems. Unfortunately, seemingly straightforward approaches for creating end-to-end driving models that map sensor data directly…

We study the problem of inferring scene affordances by presenting a method for realistically inserting people into scenes. Given a scene image with a marked region and an image of a person, we insert the person into the scene while…

Multi-object tracking (MOT) aims to maintain consistent identities of objects across video frames. Associating objects in low-frame-rate videos captured by moving unmanned aerial vehicles (UAVs) in actual combat scenarios is complex due to…

Deformable templates are essential to large-scale medical image registration, segmentation, and population analysis. Current conventional and deep network-based methods for template construction use only regularized registration objectives…

Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance,…

Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…

To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…

Active Test-Time Adaptation (ATTA) improves model robustness under domain shift by selectively querying human annotations at deployment, but existing methods use heuristic uncertainty measures and suffer from low data selection efficiency,…

This paper introduces an automatic affordance reasoning paradigm tailored to minimal semantic inputs, addressing the critical challenges of classifying and manipulating unseen classes of objects in household settings. Inspired by human…