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

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…

Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories,…

We introduce One-shot Open Affordance Learning (OOAL), where a model is trained with just one example per base object category, but is expected to identify novel objects and affordances. While vision-language models excel at recognizing…

The field of functional recognition or affordance estimation from images has seen a revival in recent years. As originally proposed by Gibson, the affordances of a scene were directly perceived from the ambient light: in other words,…

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…

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…

Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…

Robots operating in human-centered environments should have the ability to understand how objects function: what can be done with each object, where this interaction may occur, and how the object is used to achieve a goal. To this end, we…

Affordances - i.e. possibilities for action that an environment or objects in it provide - are important for robots operating in human environments to perceive. Existing approaches train such capabilities on annotated static images or…

For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…

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…

The concept of affordance is important to understand the relevance of object parts for a certain functional interaction. Affordance types generalize across object categories and are not mutually exclusive. This makes the segmentation of…

Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen scenes, we develop an approach for learning visual…

Visual affordance learning is crucial for robots to understand and interact effectively with the physical world. Recent advances in this field attempt to leverage pre-trained knowledge of vision-language foundation models to learn…

Understanding what objects could furnish for humans-namely, learning object affordance-is the crux to bridge perception and action. In the vision community, prior work primarily focuses on learning object affordance with dense (e.g., at a…

Autonomous agents, such as robots or intelligent devices, need to understand how to interact with objects and its environment. Affordances are defined as the relationships between an agent, the objects, and the possible future actions in…

An autonomous robot should be able to evaluate the affordances that are offered by a given situation. Here we address this problem by designing a system that can densely predict affordances given only a single 2D RGB image. This is achieved…

This paper presents an approach for learning invariant features for object affordance understanding. One of the major problems for a robotic agent acquiring a deeper understanding of affordances is finding sensory-grounded semantics. Being…

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…

In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed affordance constraints, of the objects involved. Affordance…