相关论文: SAVOR: Skill Affordance Learning from Visuo-Haptic…
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to…
Humans show an innate capability to identify tools to support specific actions. The association between objects parts and the actions they facilitate is usually named affordance. Being able to segment objects parts depending on the tasks…
Dexterous robotic manipulation remains a longstanding challenge in robotics due to the high dimensionality of control spaces and the semantic complexity of object interaction. In this paper, we propose an object affordance-guided…
Learning to understand and infer object functionalities is an important step towards robust visual intelligence. Significant research efforts have recently focused on segmenting the object parts that enable specific types of human-object…
Deep learning has been widely used for inferring robust grasps. Although human-labeled RGB-D datasets were initially used to learn grasp configurations, preparation of this kind of large dataset is expensive. To address this problem, images…
Self-supervised grasp learning, i.e., learning to grasp by trial and error, has made great progress. However, it is still time-consuming to train such a model and also a challenge to apply it in practice. This work presents an accelerating…
A robot providing mealtime assistance must perform specialized maneuvers with various utensils in order to pick up and feed a range of food items. Beyond these dexterous low-level skills, an assistive robot must also plan these strategies…
Reasoning about object grasp affordances allows an autonomous agent to estimate the most suitable grasp to execute a task. While current approaches for estimating grasp affordances are effective, their prediction is driven by hypotheses on…
The paper presents REPeat, a Real2Sim2Real framework designed to enhance bite acquisition in robot-assisted feeding for soft foods. It uses `pre-acquisition actions' such as pushing, cutting, and flipping to improve the success rate of bite…
Cooking is a central activity of daily living, supporting independence as well as mental and physical health. However, prior work has highlighted key barriers for people with low vision (LV) to cook, particularly around safely interacting…
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…
Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairments and reduce caregiver workload. However, their widespread…
Agriculture remains a cornerstone of global health and economic sustainability, yet labor-intensive tasks such as harvesting high-value crops continue to face growing workforce shortages. Robotic harvesting systems offer a promising…
Short Term object-interaction Anticipation consists in detecting the location of the next active objects, the noun and verb categories of the interaction, as well as the time to contact from the observation of egocentric video. This ability…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
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…
When interacting with objects, humans effectively reason about which regions of objects are viable for an intended action, i.e., the affordance regions of the object. They can also account for subtle differences in object regions based on…
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…
Reasoning the human-object interactions (HOI) is essential for deeper scene understanding, while object affordances (or functionalities) are of great importance for human to discover unseen HOIs with novel objects. Inspired by this, we…
Does having visual priors (e.g. the ability to detect objects) facilitate learning to perform vision-based manipulation (e.g. picking up objects)? We study this problem under the framework of transfer learning, where the model is first…