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

This article studies the commonsense object affordance concept for enabling close-to-human task planning and task optimization of embodied robotic agents in urban environments. The focus of the object affordance is on reasoning how to…

When an object detector is deployed in a novel setting it often experiences a drop in performance. This paper studies how an embodied agent can automatically fine-tune a pre-existing object detector while exploring and acquiring images in a…

Active learning (AL) is a prominent technique for reducing the annotation effort required for training machine learning models. Deep learning offers a solution for several essential obstacles to deploying AL in practice but introduces many…

Affinity graphs are widely used in deep architectures, including graph convolutional neural networks and attention networks. Thus far, the literature has focused on abstracting features from such graphs, while the learning of the affinities…

Self-supervised grasp learning, i.e., learning to grasp by trial and error, has made great progress. However, it is still time-consuming to train such a model and also a challenge to apply it in practice. This work presents an accelerating…

Annotating a large number of training images is very time-consuming. In this background, this paper focuses on learning from easy-to-acquire web data and utilizes the learned model for fine-grained image classification in labeled datasets.…

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…

In this work we present a novel unsupervised framework for hard training example mining. The only input to the method is a collection of images relevant to the target application and a meaningful initial representation, provided e.g. by…

We study the problem of large scale, multi-label visual recognition with a large number of possible classes. We propose a method for augmenting a trained neural network classifier with auxiliary capacity in a manner designed to…

In order to enable robust operation in unstructured environments, robots should be able to generalize manipulation actions to novel object instances. For example, to pour and serve a drink, a robot should be able to recognize novel…

Collecting large annotated datasets in Remote Sensing is often expensive and thus can become a major obstacle for training advanced machine learning models. Common techniques of addressing this issue, based on the underlying idea of…

Deep-learning models can extract a rich assortment of features from data. Which features a model uses depends not only on \emph{predictivity} -- how reliably a feature indicates training-set labels -- but also on \emph{availability} -- how…

In the past decade, deep neural networks have achieved significant progress in point cloud learning. However, collecting large-scale precisely-annotated training data is extremely laborious and expensive, which hinders the scalability of…

Transparent objects are widely used in our daily lives and therefore robots need to be able to handle them. However, transparent objects suffer from light reflection and refraction, which makes it challenging to obtain the accurate depth…

Recent advancements in deep-learning methods for object detection in point-cloud data have enabled numerous roadside applications, fostering improvements in transportation safety and management. However, the intricate nature of point-cloud…

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…

Object recognition is a key enabler across industry and defense. As technology changes, algorithms must keep pace with new requirements and data. New modalities and higher resolution sensors should allow for increased algorithm robustness.…

Reasoning about object affordances allows an autonomous agent to perform generalised manipulation tasks among object instances. While current approaches to grasp affordance estimation are effective, they are limited to a single hypothesis.…

Active learning is a paradigm aimed at reducing the annotation effort by training the model on actively selected informative and/or representative samples. Another paradigm to reduce the annotation effort is self-training that learns from a…

Understanding and manipulating deformable objects (e.g., ropes and fabrics) is an essential yet challenging task with broad applications. Difficulties come from complex states and dynamics, diverse configurations and high-dimensional action…