相关论文: Affordance Labeling and Exploration: A Manifold-Ba…

The use of machine learning to investigate grasp affordances has received extensive attention over the past several decades. The existing literature provides a robust basis to build upon, though a number of aspects may be improved. Results…

In multi-label classification, the main focus has been to develop ways of learning the underlying dependencies between labels, and to take advantage of this at classification time. Developing better feature-space representations has been…

The ability to understand the ways to interact with objects from visual cues, a.k.a. visual affordance, is essential to vision-guided robotic research. This involves categorizing, segmenting and reasoning of visual affordance. Relevant…

We consider the problem of classification of an object given multiple observations that possibly include different transformations. The possible transformations of the object generally span a low-dimensional manifold in the original signal…

Accurate affordance detection and segmentation with pixel precision is an important piece in many complex systems based on interactions, such as robots and assitive devices. We present a new approach to affordance perception which enables…

Deep neural networks have been demonstrated to achieve phenomenal success in many domains, and yet their inner mechanisms are not well understood. In this paper, we investigate the curvature of image manifolds, i.e., the manifold deviation…

In this paper, we propose a novel approach for learning multi-label classifiers with the help of privileged information. Specifically, we use similarity constraints to capture the relationship between available information and privileged…

This paper develops and evaluates a novel method that allows for the detection of affordances in a scalable and multiple-instance manner on visually recovered pointclouds. Our approach has many advantages over alternative methods, as it is…

Affordance detection presents intricate challenges and has a wide range of robotic applications. Previous works have faced limitations such as the complexities of 3D object shapes, the wide range of potential affordances on real-world…

In the fast-evolving field of artificial intelligence, where models are increasingly growing in complexity and size, the availability of labeled data for training deep learning models has become a significant challenge. Addressing complex…

Affordances are a fundamental concept in robotics since they relate available actions for an agent depending on its sensory-motor capabilities and the environment. We present a novel Bayesian deep network to detect affordances in images, at…

The task of determining labels of all network nodes based on the knowledge about network structure and labels of some training subset of nodes is called the within-network classification. It may happen that none of the labels of the nodes…

Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…

Intelligent agents accomplish different tasks by utilizing various objects based on their affordance, but how to select appropriate objects according to task context is not well-explored. Current studies treat objects within the affordance…

A key challenge in robot teaching is grasp-type recognition with a single RGB image and a target object name. Here, we propose a simple yet effective pipeline to enhance learning-based recognition by leveraging a prior distribution of grasp…

Localizing functional regions of objects or affordances is an important aspect of scene understanding. In this work, we cast the problem of affordance segmentation as that of semantic image segmentation. In order to explore various levels…

Visual affordances identify regions in an image with potential interactions, offering a novel paradigm for scene understanding. Recognizing affordances allows autonomous robots to act more naturally, could enhance human-robot interactions,…

Perceiving and manipulating 3D articulated objects in diverse environments is essential for home-assistant robots. Recent studies have shown that point-level affordance provides actionable priors for downstream manipulation tasks. However,…

An autonomous robot should be able to evaluate the affordances that are offered by a given situation. Here we address this problem by designing a system that can densely predict affordances given only a single 2D RGB image. This is achieved…

In recent years, the performance of object detection has advanced significantly with the evolving deep convolutional neural networks. However, the state-of-the-art object detection methods still rely on accurate bounding box annotations…