相关论文: Object-centric Representations for Interactive Onl…

Object-centric representation is an essential abstraction for forward prediction. Most existing forward models learn this representation through extensive supervision (e.g., object class and bounding box) although such ground-truth…

Autonomous agents need large repertoires of skills to act reasonably on new tasks that they have not seen before. However, acquiring these skills using only a stream of high-dimensional, unstructured, and unlabeled observations is a tricky…

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…

Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…

When searching for an object humans navigate through a scene using semantic information and spatial relationships. We look for an object using our knowledge of its attributes and relationships with other objects to infer the probable…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

Building models of the world from observation, i.e., induction, is one of the major challenges in machine learning. In order to be useful, models need to maintain accuracy when used in novel situations, i.e., generalize. In addition, they…

This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves…

Human-robot interaction often occurs in the form of instructions given from a human to a robot. For a robot to successfully follow instructions, a common representation of the world and objects in it should be shared between humans and the…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

Building hand-object models for dexterous in-hand manipulation remains a crucial and open problem. Major challenges include the difficulty of obtaining the geometric and dynamical models of the hand, object, and time-varying contacts, as…

Humans are remarkably good at understanding and reasoning about complex visual scenes. The capability to decompose low-level observations into discrete objects allows us to build a grounded abstract representation and identify the…

Object detection for robot guidance is a crucial mission for autonomous robots, which has provoked extensive attention for researchers. However, the changing view of robot movement and limited available data hinder the research in this…

Nowadays, service robots are appearing more and more in our daily life. For this type of robot, open-ended object category learning and recognition is necessary since no matter how extensive the training data used for batch learning, the…

Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…

Unsupervised object-centric representation (OCR) learning has recently drawn attention as a new paradigm of visual representation. This is because of its potential of being an effective pre-training technique for various downstream tasks in…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…