相关论文: RAIL: Robot Affordance Imagination with Large Lang…

Reinforcement learning (RL) is a promising approach for robotic manipulation, but it can suffer from low sample efficiency and requires extensive exploration of large state-action spaces. Recent methods leverage the commonsense knowledge…

Grasp detection in clutter requires the robot to reason about the 3D scene from incomplete and noisy perception. In this work, we draw insight that 3D reconstruction and grasp learning are two intimately connected tasks, both of which…

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…

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…

Understanding object and its context are very important for robots when dealing with objects for completion of a mission. In this paper, an Affordance-based Ontology (ABO) is proposed for easy robot dealing with substantive and…

Articulated objects pose diverse manipulation challenges for robots. Since their internal structures are not directly observable, robots must adaptively explore and refine actions to generate successful manipulation trajectories. While…

We propose AffordanceNet, a new deep learning approach to simultaneously detect multiple objects and their affordances from RGB images. Our AffordanceNet has two branches: an object detection branch to localize and classify the object, and…

Affordance detection, which refers to perceiving objects with potential action possibilities in images, is a challenging task since the possible affordance depends on the person's purpose in real-world application scenarios. The existing…

In this paper, we propose a novel affordance model, which combines object, action, and effect information in the latent space of a predictive neural network architecture that is built on Conditional Neural Processes. Our model allows us to…

We present SAGA, a versatile and adaptive framework for visuomotor control that can generalize across various environments, task objectives, and user specifications. To efficiently learn such capability, our key idea is to disentangle…

Despite significant progress in robotic systems for operation within human-centric environments, existing models still heavily rely on explicit human commands to identify and manipulate specific objects. This limits their effectiveness in…

Can a video generation model be repurposed as an interactive world simulator? We explore the affordance perception potential of text-to-video models by teaching them to predict human-environment interaction. Given a scene image and a prompt…

Large language models can encode a wealth of semantic knowledge about the world. Such knowledge could be extremely useful to robots aiming to act upon high-level, temporally extended instructions expressed in natural language. However, a…

3D object affordance grounding aims to predict the touchable regions on a 3d object, which is crucial for human-object interaction, human-robot interaction, embodied perception, and robot learning. Recent advances tackle this problem via…

To enable robots to use tools, the initial step is teaching robots to employ dexterous gestures for touching specific areas precisely where tasks are performed. Affordance features of objects serve as a bridge in the functional interaction…

We introduce CRAFT, a neuro-symbolic framework for interpretable affordance grounding, which identifies the objects in a scene that enable a given action (e.g., "cut"). CRAFT integrates structured commonsense priors from ConceptNet and…

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…

Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…

The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic systems still fall short of matching biological dexterity. In this…

How do we know that a kitchen is a kitchen by looking? Relatively little is known about how we conceptualize and categorize different visual environments. Traditional models of visual perception posit that scene categorization is achieved…