相关论文: Visual Affordance Prediction: Survey and Reproduci…

Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variability…

We propose the ambiguity problem for the foreground object segmentation task and motivate the importance of estimating and accounting for this ambiguity when designing vision systems. Specifically, we distinguish between images which lead…

Datasets collected from the open world unavoidably suffer from various forms of randomness or noiseness, leading to the ubiquity of aleatoric (data) uncertainty. Quantifying such uncertainty is particularly pivotal for object detection,…

The availability heuristic is a strategy that people use to make quick decisions but often lead to systematic errors. We propose three ways that visualization could facilitate unbiased decision-making. First, visualizations can alter the…

Object affordance and volumetric information are essential in devising effective grasping strategies under task-specific constraints. This paper presents an approach for inferring suitable grasping strategies from limited partial views of…

In fair division of indivisible goods, using sequences of sincere choices (or picking sequences) is a natural way to allocate the objects. The idea is as follows: at each stage, a designated agent picks one object among those that remain.…

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 present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Given the complexities inherent in visual scenes, such as object occlusion, a comprehensive understanding often requires observation from multiple viewpoints. Existing multi-viewpoint object-centric learning methods typically employ random…

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.…

We present AROS, a one-shot learning approach that uses an explicit representation of interactions between highly-articulated human poses and 3D scenes. The approach is one-shot as the method does not require re-training to add new…

Recent advances in visual representation learning allowed to build an abundance of powerful off-the-shelf features that are ready-to-use for numerous downstream tasks. This work aims to assess how well these features preserve information…

Recent development in autonomous driving involves high-level computer vision and detailed road scene understanding. Today, most autonomous vehicles are using mediated perception approach for path planning and control, which highly rely on…

Affordance detection from visual input is a fundamental step in autonomous robotic manipulation. Existing solutions to the problem of affordance detection rely on convolutional neural networks. However, these networks do not consider the…

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…

Objects, in particular tools, provide several action possibilities to the agents that can act on them, which are generally associated with the term of affordances. A tool is typically designed for a specific purpose, such as driving a nail…

We investigate the knowledge of object affordances in pre-trained language models (LMs) and pre-trained Vision-Language models (VLMs). A growing body of literature shows that PTLMs fail inconsistently and non-intuitively, demonstrating a…

Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembly--where broken parts are reassembled into their original…

We present a new approach to modeling visual attributes. Prior work casts attributes in a similar role as objects, learning a latent representation where properties (e.g., sliced) are recognized by classifiers much in the way objects (e.g.,…

Affordance knowledge is a fundamental aspect of commonsense knowledge. Recent findings indicate that world knowledge emerges through large-scale self-supervised pretraining, motivating our exploration of acquiring affordance knowledge from…