相关论文: Visual Affordance Prediction for Guiding Robot Exp…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabilities requires a cohesive understanding of the environment,…

This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

Recent development in autonomous driving involves high-level computer vision and detailed road scene understanding. Today, most autonomous vehicles are using mediated perception approach for path planning and control, which highly rely on…

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…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

Exploration is a fundamental problem in robotics. While sampling-based planners have shown high performance, they are oftentimes compute intensive and can exhibit high variance. To this end, we propose to directly learn the underlying…

Inspired by the success of transfer learning in computer vision, roboticists have investigated visual pre-training as a means to improve the learning efficiency and generalization ability of policies learned from pixels. To that end, past…

Visual perception and navigation have emerged as major focus areas in the field of embodied artificial intelligence. We consider the task of image-goal navigation, where an agent is tasked to navigate to a goal specified by an image,…

In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed affordance constraints, of the objects involved. Affordance…

In humans, intrinsic motivation is an important mechanism for open-ended cognitive development; in robots, it has been shown to be valuable for exploration. An important aspect of human cognitive development is $\textit{episodic memory}$…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel sampling to identify successful interaction samples or…

Constructing a diverse repertoire of manipulation skills in a scalable fashion remains an unsolved challenge in robotics. One way to address this challenge is with unstructured human play, where humans operate freely in an environment to…

We consider the problem of learning useful robotic skills from previously collected offline data without access to manually specified rewards or additional online exploration, a setting that is becoming increasingly important for scaling…

Prospection, the act of predicting the consequences of many possible futures, is intrinsic to human planning and action, and may even be at the root of consciousness. Surprisingly, this idea has been explored comparatively little in…

Humans are excellent at understanding language and vision to accomplish a wide range of tasks. In contrast, creating general instruction-following embodied agents remains a difficult challenge. Prior work that uses pure language-only models…

Affordances represent the inherent effect and action possibilities that objects offer to the agents within a given context. From a theoretical viewpoint, affordances bridge the gap between effect and action, providing a functional…