相关论文: Grounding 3D Scene Affordance From Egocentric Inte…

Grounding 3D object affordance seeks to locate objects' ''action possibilities'' regions in the 3D space, which serves as a link between perception and operation for embodied agents. Existing studies primarily focus on connecting visual…

Affordance grounding aims to locate objects' "action possibilities" regions, which is an essential step toward embodied intelligence. Due to the diversity of interactive affordance, the uniqueness of different individuals leads to diverse…

3D object affordance grounding aims to identify regions on 3D objects that support human-object interaction (HOI), a capability essential to embodied visual reasoning. However, most existing approaches rely on static visual or textual cues,…

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…

In this abstract we describe recent [4,7] and latest work on the determination of affordances in visually perceived 3D scenes. Our method builds on the hypothesis that geometry on its own provides enough information to enable the detection…

3D affordance grounding aims to highlight the actionable regions on 3D objects, which is crucial for robotic manipulation. Previous research primarily focused on learning affordance knowledge from static cues such as language and images,…

Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, for an intelligent robot, it is necessary to accurately…

Embodied agents operating in human spaces must be able to master how their environment works: what objects can the agent use, and how can it use them? We introduce a reinforcement learning approach for exploration for interaction, whereby…

Affordance grounding refers to the task of finding the area of an object with which one can interact. It is a fundamental but challenging task, as a successful solution requires the comprehensive understanding of a scene in multiple aspects…

The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coarse, object-level resolution. In contrast, our goal is to…

Affordance denotes the potential interactions inherent in objects. The perception of affordance can enable intelligent agents to navigate and interact with new environments efficiently. Weakly supervised affordance grounding teaches agents…

Global perception is essential for embodied agents in 360{\deg} spaces, yet current affordance grounding remains largely object-centric and restricted to perspective views. To bridge this gap, we introduce a novel task: Holistic Affordance…

3D affordance reasoning, the task of associating human instructions with the functional regions of 3D objects, is a critical capability for embodied agents. Current methods based on 3D Gaussian Splatting (3DGS) are fundamentally limited to…

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…

Understanding 3D scene-level affordances from natural language instructions is essential for enabling embodied agents to interact meaningfully in complex environments. However, this task remains challenging due to the need for semantic…

A core problem of Embodied AI is to learn object manipulation from observation, as humans do. To achieve this, it is important to localize 3D object affordance areas through observation such as images (3D affordance grounding) and…

Visual affordance learning is a key component for robots to understand how to interact with objects. Conventional approaches in this field rely on pre-defined objects and actions, falling short of capturing diverse interactions in realworld…

Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance,…

Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or…

Embodied AI depends on interactive 3D environments that support meaningful activities for diverse users, yet assessing their functional affordances remains a core challenge. We introduce SceneTeract, a framework that verifies 3D scene…