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

We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…

With the increasing complexity of modern industrial automatic and robotic systems, an increasing burden is put on the operators, who are requested to supervise and interact with very complex systems, typically under challenging and…

Multi-touch attribution (MTA) estimates the relative contributions of the multiple ads a user may see prior to any observed conversions. Increasingly, advertisers also want to base budget and bidding decisions on these attributions,…

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…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

In this work, we study self-supervised multiple object tracking without using any video-level association labels. We propose to cast the problem of multiple object tracking as learning the frame-wise associations between detections in…

Human-robot handovers are characterized by high uncertainty and poor structure of the problem that make them difficult tasks. While machine learning methods have shown promising results, their application to problems with large state…

Optimization is a ubiquitous modeling tool and is often deployed in settings which repeatedly solve similar instances of the same problem. Amortized optimization methods use learning to predict the solutions to problems in these settings,…

We present Alias Refinement Types (ART), a new approach to the verification of correctness properties of linked data structures. While there are many techniques for checking that a heap-manipulating program adheres to its specification,…

Affordance detection from visual input is a fundamental step in autonomous robotic manipulation. Existing solutions to the problem of affordance detection rely on convolutional neural networks. However, these networks do not consider the…

In the quest to enable robots to coexist with humans, understanding dynamic situations and selecting appropriate actions based on common sense and affordances are essential. Conventional AI systems face challenges in applying affordance, as…

Robots frequently need to perceive object attributes, such as "red," "heavy," and "empty," using multimodal exploratory actions, such as "look," "lift," and "shake." Robot attribute learning algorithms aim to learn an observation model for…

Reasoning the human-object interactions (HOI) is essential for deeper scene understanding, while object affordances (or functionalities) are of great importance for human to discover unseen HOIs with novel objects. Inspired by this, we…

Building a robot that can understand and learn to interact by watching humans has inspired several vision problems. However, despite some successful results on static datasets, it remains unclear how current models can be used on a robot…

State-of-the-art computer vision approaches rely on huge amounts of annotated data. The collection of such data is a time consuming process since it is mainly performed by humans. The literature shows that semi-automatic annotation…

Recently, Transformers have been introduced into the field of acoustics recognition. They are pre-trained on large-scale datasets using methods such as supervised learning and semi-supervised learning, demonstrating robust generality--It…

Activity classification has observed great success recently. The performance on small dataset is almost saturated and people are moving towards larger datasets. What leads to the performance gain on the model and what the model has learnt?…

Deep learning methods typically require vast amounts of training data to reach their full potential. While some publicly available datasets exists, domain specific data always needs to be collected and manually labeled, an expensive, time…

In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identifies objects of interest in LiDAR keyframes, refines their…

3-D image registration, which involves aligning two or more images, is a critical step in a variety of medical applications from diagnosis to therapy. Image registration is commonly performed by optimizing an image matching metric as a cost…