相关论文: A4T: Hierarchical Affordance Detection for Transpa…

The concept of function and affordance is a critical aspect of 3D scene understanding and supports task-oriented objectives. In this work, we develop a model that learns to structure and vary functional affordance across a 3D hierarchical…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

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…

Foundation models achieve state-of-the-art performance across different tasks, but their size and computational demands raise concerns about accessibility and sustainability. Existing efficiency methods often require additional retraining…

Reusable model design becomes desirable with the rapid expansion of computer vision and machine learning applications. In this paper, we focus on the reusability of pre-trained deep convolutional models. Specifically, different from…

We propose a new approach for Zero-Shot Human-Object Interaction Recognition in the challenging setting that involves interactions with unseen actions (as opposed to just unseen combinations of seen actions and objects). Our approach makes…

Affordances - i.e. possibilities for action that an environment or objects in it provide - are important for robots operating in human environments to perceive. Existing approaches train such capabilities on annotated static images or…

A key challenge in robot teaching is grasp-type recognition with a single RGB image and a target object name. Here, we propose a simple yet effective pipeline to enhance learning-based recognition by leveraging a prior distribution of grasp…

Assistive robots operating in unstructured environments must understand not only what objects are, but what they can be used for. This requires grounding language-based action queries to objects that both afford the requested function and…

Humans can perform previously unexperienced interactions with novel objects simply by observing others engage with them. Weakly-supervised affordance grounding mimics this process by learning to locate object regions that enable actions on…

Coherent diffraction imaging methods enable imaging beyond lens-imposed resolution limits. In these methods, the object can be recovered by minimizing an error metric that quantifies the difference between diffraction patterns as observed,…

Robotic disassembly of complex mating components often renders pinch grasping infeasible, necessitating multi-fingered enveloping grasps. However, visual occlusions and geometric constraints complicate teaching appropriate grasp motions…

We present TOPGN, a novel method for real-time transparent obstacle detection for robot navigation in unknown environments. We use a multi-layer 2D grid map representation obtained by summing the intensities of lidar point clouds that lie…

In this work, we focus on the task of weakly supervised affordance grounding, where a model is trained to identify affordance regions on objects using human-object interaction images and egocentric object images without dense labels.…

When interacting with objects, humans effectively reason about which regions of objects are viable for an intended action, i.e., the affordance regions of the object. They can also account for subtle differences in object regions based on…

Many studies have been conducted so far on image restoration, the problem of restoring a clean image from its distorted version. There are many different types of distortion which affect image quality. Previous studies have focused on…

Spectral image reconstruction is an important task in snapshot compressed imaging. This paper aims to propose a new end-to-end framework with iterative capabilities similar to a deep unfolding network to improve reconstruction accuracy,…

Cutting out an object and estimating its opacity mask, known as image matting, is a key task in many image editing applications. Deep learning approaches have made significant progress by adapting the encoder-decoder architecture of…

Open-Vocabulary 3D object affordance grounding aims to anticipate ``action possibilities'' regions on 3D objects with arbitrary instructions, which is crucial for robots to generically perceive real scenarios and respond to operational…

Up-to-date High-Definition (HD) maps are essential for self-driving cars. To achieve constantly updated HD maps, we present a deep neural network (DNN), Diff-Net, to detect changes in them. Compared to traditional methods based on object…