相关论文: Grounding 3D Object Affordance from 2D Interaction…

3D object detection has achieved significant performance in many fields, e.g., robotics system, autonomous driving, and augmented reality. However, most existing methods could cause catastrophic forgetting of old classes when performing on…

We address the problem of learning representations from observations of a scene involving an agent and an external object the agent interacts with. To this end, we propose a representation learning framework extracting the location in…

Short-Term object-interaction Anticipation consists of detecting the location of the next-active objects, the noun and verb categories of the interaction, and the time to contact from the observation of egocentric video. This ability is…

Our work addresses the problem of learning to localize objects in an open-world setting, i.e., given the bounding box information of a limited number of object classes during training, the goal is to localize all objects, belonging to both…

Translating high-level linguistic instructions into precise robotic actions in the physical world remains challenging, particularly when considering the feasibility of interacting with 3D objects. In this paper, we introduce 3D-TAFS, a…

Generating 3D visual scenes is at the forefront of visual generative AI, but current 3D generation techniques struggle with generating scenes with multiple high-resolution objects. Here we introduce Lay-A-Scene, which solves the task of…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Grounding referring expressions in RGBD image has been an emerging field. We present a novel task of 3D visual grounding in single-view RGBD image where the referred objects are often only partially scanned due to occlusion. In contrast to…

Controlling embodied agents with many actuated degrees of freedom is a challenging task. We propose a method that can discover and interpolate between context dependent high-level actions or body-affordances. These provide an abstract,…

Affordances are key attributes of what must be perceived by an autonomous robotic agent in order to effectively interact with novel objects. Historically, the concept derives from the literature in psychology and cognitive science, where…

Learning robot manipulation from human videos is appealing due to the scale and diversity of human demonstrations, but transferring such demonstrations to executable robot behavior remains challenging. Prior work either relies on robot data…

3D visual grounding aims to localize the target object in a 3D point cloud by a free-form language description. Typically, the sentences describing the target object tend to provide information about its relative relation between other…

We present an approach for acquiring grounded representations of words from mixed-initiative, situated interactions with a human instructor. The work focuses on the acquisition of diverse types of knowledge including perceptual, semantic,…

We propose a developmental approach that allows a robot to interpret and describe the actions of human agents by reusing previous experience. The robot first learns the association between words and object affordances by manipulating the…

3D visual grounding is an emerging research area dedicated to making connections between the 3D physical world and natural language, which is crucial for achieving embodied intelligence. In this paper, we propose DASANet, a Dual…

Engineering simulations for analysis of structural and fluid systems require information of contacts between various 3-D surfaces of the geometry to accurately model the physics between them. In machine learning applications, 3-D surfaces…

We propose Graph2Nav, a real-time 3D object-relation graph generation framework, for autonomous navigation in the real world. Our framework fully generates and exploits both 3D objects and a rich set of semantic relationships among objects…

Robotic manipulation with two-finger grippers is challenged by objects lacking distinct graspable features. Traditional pre-grasping methods, which typically involve repositioning objects or utilizing external aids like table edges, are…

While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…

Digital interaction with everyday objects has become popular since the proliferation of camera-based systems that detect and augment objects "just-in-time". Common systems use a vision-based approach to detect objects and display their…