相关论文: 2HandedAfforder: Learning Precise Actionable Biman…

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.…

Interactive object understanding, or what we can do to objects and how is a long-standing goal of computer vision. In this paper, we tackle this problem through observation of human hands in in-the-wild egocentric videos. We demonstrate…

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…

Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness…

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…

Affordances are the possibilities of actions the environment offers to the individual. Ordinary objects (hammer, knife) usually have many affordances (grasping, pounding, cutting), and detecting these allow artificial agents to understand…

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

General robotic grasping systems require accurate object affordance perception in diverse open-world scenarios following human instructions. However, current studies suffer from the problem of lacking reasoning-based large-scale affordance…

Contrary to the vast literature in modeling, perceiving, and understanding agent-object (e.g., human-object, hand-object, robot-object) interaction in computer vision and robotics, very few past works have studied the task of object-object…

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,…

The ability to autonomously explore and navigate a physical space is a fundamental requirement for virtually any mobile autonomous agent, from household robotic vacuums to autonomous vehicles. Traditional SLAM-based approaches for…

Modeling how humans interact with objects is crucial for AI to effectively assist or mimic human behaviors. Existing studies for learning such ability primarily focus on static human-object interaction (HOI) patterns, such as contact and…

The use of machine learning to investigate grasp affordances has received extensive attention over the past several decades. The existing literature provides a robust basis to build upon, though a number of aspects may be improved. Results…

Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…

Currently, task-oriented grasp detection approaches are mostly based on pixel-level affordance detection and semantic segmentation. These pixel-level approaches heavily rely on the accuracy of a 2D affordance mask, and the generated grasp…

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…

Affordance detection, which refers to perceiving objects with potential action possibilities in images, is a challenging task since the possible affordance depends on the person's purpose in real-world application scenarios. The existing…

Affordance learning considers the interaction opportunities for an actor in the scene and thus has wide application in scene understanding and intelligent robotics. In this paper, we focus on contextual affordance learning, i.e., using…

A growing field in robotics and Artificial Intelligence (AI) research is human-robot collaboration, whose target is to enable effective teamwork between humans and robots. However, in many situations human teams are still superior to…

From rearranging objects on a table to putting groceries into shelves, robots must plan precise action points to perform tasks accurately and reliably. In spite of the recent adoption of vision language models (VLMs) to control robot…