相关论文: Incremental Learning of Affordances using Markov L…

The emergence of in-context learning (ICL) enables large pre-trained language models (PLMs) to make predictions for unseen inputs without updating parameters. Despite its potential, ICL's effectiveness heavily relies on the quality,…

Affordance refers to the perception of possible actions allowed by an object. Despite its relevance to human-computer interaction, no existing theory explains the mechanisms that underpin affordance-formation; that is, how affordances are…

Affordances represent the inherent effect and action possibilities that objects offer to the agents within a given context. From a theoretical viewpoint, affordances bridge the gap between effect and action, providing a functional…

While the integration of Multi-modal Large Language Models (MLLMs) with robotic systems has significantly improved robots' ability to understand and execute natural language instructions, their performance in manipulation tasks remains…

We propose LoRA-MCL, a training scheme that extends next-token prediction in language models with a method designed to decode diverse, plausible sentence continuations at inference time. Traditional language modeling is an intrinsically…

Recently, graph neural networks (GNNs) have proved to be suitable in tasks on unstructured data. Particularly in tasks as community detection, node classification, and link prediction. However, most GNN models still operate with static…

Investment decisions can benefit from incorporating an accumulated knowledge of the past to drive future decision making. We introduce Continual Learning Augmentation (CLA) which is based on an explicit memory structure and a feed forward…

Autonomous agents must often detect affordances: the set of behaviors enabled by a situation. Affordance detection is particularly helpful in domains with large action spaces, allowing the agent to prune its search space by avoiding futile…

Transformer models have become foundational across a wide range of scientific and engineering domains due to their strong empirical performance. A key capability underlying their success is in-context learning (ICL): when presented with a…

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…

Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with…

It is well-established by cognitive neuroscience that human perception of objects constitutes a complex process, where object appearance information is combined with evidence about the so-called object "affordances", namely the types of…

This paper details the implementation of an algorithm for automatically generating a high-level knowledge network to perform commonsense reasoning, specifically with the application of robotic task repair. The network is represented using a…

While large language models (LLMs) are successful in completing various language processing tasks, they easily fail to interact with the physical world by generating control sequences properly. We find that the main reason is that LLMs are…

Planning with a learned model is arguably a key component of intelligence. There are several challenges in realizing such a component in large-scale reinforcement learning (RL) problems. One such challenge is dealing effectively with…

Vision-language-action (VLA) models have shown strong potential for generalist robot manipulation, yet they remain limited by insufficient spatial reasoning, particularly in determining where to interact in complex visual scenes. While…

We explore how intermediate policy representations can facilitate generalization by providing guidance on how to perform manipulation tasks. Existing representations such as language, goal images, and trajectory sketches have been shown to…

Open-world generalization requires robotic systems to have a profound understanding of the physical world and the user command to solve diverse and complex tasks. While the recent advancement in vision-language models (VLMs) has offered…

We propose AffordanceNet, a new deep learning approach to simultaneously detect multiple objects and their affordances from RGB images. Our AffordanceNet has two branches: an object detection branch to localize and classify the object, and…

Affordance, defined as the potential actions that an object offers, is crucial for embodied AI agents. For example, such knowledge directs an agent to grasp a knife by the handle for cutting or by the blade for safe handover. While existing…