相关论文: Fine-grained Affordance Annotation for Egocentric …

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…

3D object affordance grounding aims to identify regions on 3D objects that support human-object interaction (HOI), a capability essential to embodied visual reasoning. However, most existing approaches rely on static visual or textual cues,…

Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variability…

Understanding how humans interact with the surrounding environment, and specifically reasoning about object interactions and affordances, is a critical challenge in computer vision, robotics, and AI. Current approaches often depend on…

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.…

For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…

Visual affordances identify regions in an image with potential interactions, offering a novel paradigm for scene understanding. Recognizing affordances allows autonomous robots to act more naturally, could enhance human-robot interactions,…

Road attributes understanding is extensively researched to support vehicle's action for autonomous driving, whereas current works mainly focus on urban road nets and rely much on traffic signs. This paper generalizes the same issue to the…

General robotic grasping systems require accurate object affordance perception in diverse open-world scenarios following human instructions. However, current studies suffer from the problem of lacking reasoning-based large-scale affordance…

Affordance refers to the functional properties that an agent perceives and utilizes from its environment, and is key perceptual information required for robots to perform actions. This information is rich and multimodal in nature. Existing…

Object affordance and volumetric information are essential in devising effective grasping strategies under task-specific constraints. This paper presents an approach for inferring suitable grasping strategies from limited partial views of…

Grasping occluded objects in cluttered environments is an essential component in complex robotic manipulation tasks. In this paper, we introduce an AffordanCE-driven Next-Best-View planning policy (ACE-NBV) that tries to find a feasible…

Language-guided robot dexterous generation enables robots to grasp and manipulate objects based on human commands. However, previous data-driven methods are hard to understand intention and execute grasping with unseen categories in the…

This paper proposes a novel method for understanding daily hand-object manipulation by developing computer vision-based techniques. Specifically, we focus on recognizing hand grasp types, object attributes and manipulation actions within an…

Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…

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…

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…

How can we reconstruct 3D hand poses when large portions of the hand are heavily occluded by itself or by objects? Humans often resolve such ambiguities by leveraging contextual knowledge -- such as affordances, where an object's shape and…

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…

We introduce One-shot Open Affordance Learning (OOAL), where a model is trained with just one example per base object category, but is expected to identify novel objects and affordances. While vision-language models excel at recognizing…