相关论文: Visual-Geometric Collaborative Guidance for Afford…

We address the task of open-world class-agnostic object detection, i.e., detecting every object in an image by learning from a limited number of base object classes. State-of-the-art RGB-based models suffer from overfitting the training…

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…

This paper addresses the problem of affordance grounding from RGBD images of an object, which aims to localize surface regions corresponding to a text query that describes an action on the object. While existing methods predict affordance…

Identifying affordance regions on 3D objects from semantic cues is essential for robotics and human-machine interaction. However, existing 3D affordance learning methods struggle with generalization and robustness due to limited annotated…

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…

Short-Term object-interaction Anticipation consists of detecting the location of the next-active objects, the noun and verb categories of the interaction, and the time to contact from the observation of egocentric video. This ability is…

In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and…

We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…

Surgical action automation has progressed rapidly toward achieving surgeon-like dexterous control, driven primarily by advances in learning from demonstration and vision-language-action models. While these have demonstrated success in…

Flexible, goal-directed behavior is a fundamental aspect of human life. Based on the free energy minimization principle, the theory of active inference formalizes the generation of such behavior from a computational neuroscience…

We propose a novel framework for interactive class-agnostic object counting, where a human user can interactively provide feedback to improve the accuracy of a counter. Our framework consists of two main components: a user-friendly…

We consider the problem of visual imitation learning without human supervision (e.g. kinesthetic teaching or teleoperation), nor access to an interactive reinforcement learning (RL) training environment. We present a geometric perspective…

Recent graph convolutional neural networks (GCNs) have shown high performance in the field of human action recognition by using human skeleton poses. However, it fails to detect human-object interaction cases successfully due to the lack of…

The existing generative adversarial fusion methods generally concatenate source images and extract local features through convolution operation, without considering their global characteristics, which tends to produce an unbalanced result…

To be capable of lifelong learning in a real-life environment, robots have to tackle multiple challenges. Being able to relate physical properties they may observe in their environment to possible interactions they may have is one of them.…

Graph Convolutional Networks (GCN) have been recently employed as core component in the construction of recommender system algorithms, interpreting user-item interactions as the edges of a bipartite graph. However, in the absence of side…

Visual modes of communication are ubiquitous in modern life --- from maps to data plots to political cartoons. Here we investigate drawing, the most basic form of visual communication. Participants were paired in an online environment to…

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…

Robots are often required to operate in environments where humans are not present, but yet require the human context information for better human-robot interaction. Even when humans are present in the environment, detecting their presence…

Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only planners cannot resolve without semantic…