相关论文: Multi-Object Graph Affordance Network: Goal-Orient…

This study investigates how text-driven object affordance, which provides prior knowledge about grasp types for each object, affects image-based grasp-type recognition in robot teaching. The researchers created labeled datasets of…

Scene graph prediction --- classifying the set of objects and predicates in a visual scene --- requires substantial training data. However, most predicates only occur a handful of times making them difficult to learn. We introduce the first…

Learning to understand and infer object functionalities is an important step towards robust visual intelligence. Significant research efforts have recently focused on segmenting the object parts that enable specific types of human-object…

Imitation learning has unlocked the potential for robots to exhibit highly dexterous behaviours. However, it still struggles with long-horizon, multi-object tasks due to poor sample efficiency and limited generalisation. Existing methods…

Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…

Visual affordance grounding aims to segment all possible interaction regions between people and objects from an image/video, which is beneficial for many applications, such as robot grasping and action recognition. However, existing methods…

Affordance grounding, a task to ground (i.e., localize) action possibility region in objects, which faces the challenge of establishing an explicit link with object parts due to the diversity of interactive affordance. Human has the ability…

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…

Personalized recommendation is ubiquitous, playing an important role in many online services. Substantial research has been dedicated to learning vector representations of users and items with the goal of predicting a user's preference for…

Humans excel at acquiring knowledge through observation. For example, we can learn to use new tools by watching demonstrations. This skill is fundamental for intelligent systems to interact with the world. A key step to acquire this skill…

Affordances are fundamental descriptors of relationships between actions, objects and effects. They provide the means whereby a robot can predict effects, recognize actions, select objects and plan its behavior according to desired goals.…

Prediction of movements is essential for successful cooperation with intelligent systems. We propose a model that integrates organized spatial information as given through the moving body's skeletal structure. This inherent structure is…

The interactions of users and items in recommender system could be naturally modeled as a user-item bipartite graph. In recent years, we have witnessed an emerging research effort in exploring user-item graph for collaborative filtering…

This paper describes a framework for the object-goal navigation task, which requires a robot to find and move to the closest instance of a target object class from a random starting position. The framework uses a history of robot…

With the rapid expansion of mobile phone networks in developing countries, large-scale graph machine learning has gained sudden relevance in the study of global poverty. Recent applications range from humanitarian response and poverty…

Heterogeneous graph neural networks aim to discover discriminative node embeddings and relations from multi-relational networks.One challenge of heterogeneous graph learning is the design of learnable meta-paths, which significantly…

This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment…

Convolutional Neural Networks achieve state-of-the-art accuracy in object detection tasks. However, they have large computational and energy requirements that challenge their deployment on resource-constrained edge devices. Object detection…

The term "affordance" denotes the behavioral meaning of objects. We propose a cognitive architecture for the detection of affordances in the visual modality. This model is based on the internal simulation of movement sequences. For each…

Object affordance is an important concept in hand-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…