相关论文: Learning Environment-Aware Affordance for 3D Artic…

Adversarial object rearrangement in the real world (e.g., previously unseen or oversized items in kitchens and stores) could benefit from understanding task scenes, which inherently entail heterogeneous components such as current objects,…

Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or…

In the last few years, the scientific community showed a remarkable and increasing interest towards 3D Virtual Environments, training and testing Machine Learning-based models in realistic virtual worlds. On one hand, these environments…

Task driven object detection aims to detect object instances suitable for affording a task in an image. Its challenge lies in object categories available for the task being too diverse to be limited to a closed set of object vocabulary for…

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…

Decision-making AI agents are often faced with two important challenges: the depth of the planning horizon, and the branching factor due to having many choices. Hierarchical reinforcement learning methods aim to solve the first problem, by…

Despite increasing research efforts on household robotics, robots intended for deployment in domestic settings still struggle with more complex tasks such as interacting with functional elements like drawers or light switches, largely due…

Reasoning the human-object interactions (HOI) is essential for deeper scene understanding, while object affordances (or functionalities) are of great importance for human to discover unseen HOIs with novel objects. Inspired by this, we…

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are…

Modeling how humans interact with objects is crucial for AI to effectively assist or mimic human behaviors. Existing studies for learning such ability primarily focus on static human-object interaction (HOI) patterns, such as contact and…

Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…

A growing field in robotics and Artificial Intelligence (AI) research is human-robot collaboration, whose target is to enable effective teamwork between humans and robots. However, in many situations human teams are still superior to…

Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the…

Multi-task indoor scene understanding is widely considered as an intriguing formulation, as the affinity of different tasks may lead to improved performance. In this paper, we tackle the new problem of joint semantic, affordance and…

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…

Understanding fine-grained object affordances is imperative for robots to manipulate objects in unstructured environments given open-ended task instructions. However, existing methods of visual affordance predictions often rely on manually…

This paper introduces a learning-based framework for robot adaptive manipulating the object with a revolute joint in unstructured environments. We concentrate our discussion on various cabinet door opening tasks. To improve the performance…

Affordances enable robots to have a semantic understanding of their surroundings. This allows them to have more acting flexibility when completing a given task. Capturing object affordances in a machine learning model is a difficult task,…

Unforeseen events are frequent in the real-world environments where robots are expected to assist, raising the need for fast replanning of the policy in execution to guarantee the system and environment safety. Inspired by human behavioural…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…