相关论文: Affordance detection with Dynamic-Tree Capsule Net…

Robotic agents need to understand how to interact with objects in their environment, both autonomously and during human-robot interactions. Affordance detection on 3D point clouds, which identifies object regions that allow specific…

We propose AffordanceNet, a new deep learning approach to simultaneously detect multiple objects and their affordances from RGB images. Our AffordanceNet has two branches: an object detection branch to localize and classify the object, and…

Deep convolutional neural networks, assisted by architectural design strategies, make extensive use of data augmentation techniques and layers with a high number of feature maps to embed object transformations. That is highly inefficient…

Affordance detection is a challenging problem with a wide variety of robotic applications. Traditional affordance detection methods are limited to a predefined set of affordance labels, hence potentially restricting the adaptability of…

This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The proposed approach provides direct information about what the…

Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

Capsule networks promise significant benefits over convolutional networks by storing stronger internal representations, and routing information based on the agreement between intermediate representations' projections. Despite this, their…

Affordance detection presents intricate challenges and has a wide range of robotic applications. Previous works have faced limitations such as the complexities of 3D object shapes, the wide range of potential affordances on real-world…

Affordance detection refers to identifying the potential action possibilities of objects in an image, which is an important ability for robot perception and manipulation. To empower robots with this ability in unseen scenarios, we consider…

It is well-established by cognitive neuroscience that human perception of objects constitutes a complex process, where object appearance information is combined with evidence about the so-called object "affordances", namely the types of…

Capsule networks (CapsNets) were introduced to address convolutional neural networks limitations, learning object-centric representations that are more robust, pose-aware, and interpretable. They organize neurons into groups called…

Affordances are a fundamental concept in robotics since they relate available actions for an agent depending on its sensory-motor capabilities and the environment. We present a novel Bayesian deep network to detect affordances in images, at…

Affordance information about a scene provides important clues as to what actions may be executed in pursuit of meeting a specified goal state. Thus, integrating affordance-based reasoning into symbolic action plannning pipelines would…

Learning to understand and infer object functionalities is an important step towards robust visual intelligence. Significant research efforts have recently focused on segmenting the object parts that enable specific types of human-object…

Understanding what objects could furnish for humans-namely, learning object affordance-is the crux to bridge perception and action. In the vision community, prior work primarily focuses on learning object affordance with dense (e.g., at a…

We present a framework to use recently introduced Capsule Networks for solving the problem of Optical Flow, one of the fundamental computer vision tasks. Most of the existing state of the art deep architectures either uses a correlation…

An autonomous robot should be able to evaluate the affordances that are offered by a given situation. Here we address this problem by designing a system that can densely predict affordances given only a single 2D RGB image. This is achieved…

Affordance detection refers to identifying the potential action possibilities of objects in an image, which is a crucial ability for robot perception and manipulation. To empower robots with this ability in unseen scenarios, we first study…

In this work, we address the challenge of affordance detection in 3D point clouds, a task that requires effectively capturing fine-grained alignments between point clouds and text. Existing methods often struggle to model such alignments,…