相关论文: INTRA: Interaction Relationship-aware Weakly Super…

For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…

While many quality metrics exist to evaluate the quality of a grasp by itself, no clear quantification of the quality of a grasp relatively to the task the grasp is used for has been defined yet. In this paper we propose a framework to…

Visual grounding associates textual descriptions with objects in an image. Conventional methods target third-person image inputs and named object queries. In applications such as AI assistants, the perspective shifts -- inputs are…

Constructing a diverse repertoire of manipulation skills in a scalable fashion remains an unsolved challenge in robotics. One way to address this challenge is with unstructured human play, where humans operate freely in an environment to…

Assistive robots operating in unstructured environments must understand not only what objects are, but what they can be used for. This requires grounding language-based action queries to objects that both afford the requested function and…

Controlling embodied agents with many actuated degrees of freedom is a challenging task. We propose a method that can discover and interpolate between context dependent high-level actions or body-affordances. These provide an abstract,…

Grounded understanding of natural language in physical scenes can greatly benefit robots that follow human instructions. In object manipulation scenarios, existing end-to-end models are proficient at understanding semantic concepts, but…

Motivations like domain adaptation, transfer learning, and feature learning have fueled interest in inducing embeddings for rare or unseen words, n-grams, synsets, and other textual features. This paper introduces a la carte embedding, a…

Object affordance reasoning, the ability to infer object functionalities based on physical properties, is fundamental for task-oriented planning and activities in both humans and Artificial Intelligence (AI). This capability, required for…

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…

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…

Affordances have been introduced in literature as action opportunities that objects offer, and used in robotics to semantically represent their interconnection. However, when considering an environment instead of an object, the problem…

Affordance detection refers to identifying the potential action possibilities of objects in an image, which is a crucial ability for robot perception and manipulation. To empower robots with this ability in unseen scenarios, we first study…

Fine-grained classification is a challenging problem, due to subtle differences among highly-confused categories. Most approaches address this difficulty by learning discriminative representation of individual input image. On the other…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Visual relationship detection is fundamental for holistic image understanding. However, the localization and classification of (subject, predicate, object) triplets remain challenging tasks, due to the combinatorial explosion of possible…

We propose a novel cost aggregation network, called Cost Aggregation Transformers (CATs), to find dense correspondences between semantically similar images with additional challenges posed by large intra-class appearance and geometric…

For a given scene, humans can easily reason for the locations and pose to place objects. Designing a computational model to reason about these affordances poses a significant challenge, mirroring the intuitive reasoning abilities of humans.…

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…

Planning in realistic environments requires searching in large planning spaces. Affordances are a powerful concept to simplify this search, because they model what actions can be successful in a given situation. However, the classical…