相关论文: A large scale multi-view RGBD visual affordance le…

Nowadays service robots are leaving the structured and completely known environments and entering human-centric settings. For these robots, object perception and grasping are two challenging tasks due to the high demand for accurate and…

We add one more invariance - the state invariance - to the more commonly used other invariances for learning object representations for recognition and retrieval. By state invariance, we mean robust with respect to changes in the structural…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

Segmenting object parts such as cup handles and animal bodies is important in many real-world applications but requires more annotation effort. The largest dataset nowadays contains merely two hundred object categories, implying the…

Visual similarities discovery (VSD) is an important task with broad e-commerce applications. Given an image of a certain object, the goal of VSD is to retrieve images of different objects with high perceptual visual similarity. Although…

Contrary to the vast literature in modeling, perceiving, and understanding agent-object (e.g., human-object, hand-object, robot-object) interaction in computer vision and robotics, very few past works have studied the task of object-object…

A recent study has shown that large-scale visual datasets are very biased: they can be easily classified by modern neural networks. However, the concrete forms of bias among these datasets remain unclear. In this study, we propose a…

Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. We use this data to build 3D point clouds of a full scene. In this paper, we address the task of labeling objects in this 3D point cloud…

Affordance grounding refers to the task of finding the area of an object with which one can interact. It is a fundamental but challenging task, as a successful solution requires the comprehensive understanding of a scene in multiple aspects…

Applying data-driven approaches to non-rigid 3D reconstruction has been difficult, which we believe can be attributed to the lack of a large-scale training corpus. Unfortunately, this method fails for important cases such as highly…

View-invariant object recognition is a challenging problem, which has attracted much attention among the psychology, neuroscience, and computer vision communities. Humans are notoriously good at it, even if some variations are presumably…

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…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

A vision model with general-purpose object-level 3D understanding should be capable of inferring both 2D (e.g., class name and bounding box) and 3D information (e.g., 3D location and 3D viewpoint) for arbitrary rigid objects in natural…

Large Vision-Language Models (LVLMs) have achieved significant progress in tasks like visual question answering and document understanding. However, their potential to comprehend embodied environments and navigate within them remains…

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise…

Tool use requires reasoning about the fit between an object's affordances and the demands of a task. Visual affordance learning can benefit from goal-directed interaction experience, but current techniques rely on human labels or expert…