相关论文: RAGNet: Large-scale Reasoning-based Affordance Seg…

In this study, we address the problem of open-vocabulary mobile manipulation, where a robot is required to carry a wide range of objects to receptacles based on free-form natural language instructions. This task is challenging, as it…

Recent works have shown that Large Language Models (LLMs) can be applied to ground natural language to a wide variety of robot skills. However, in practice, learning multi-task, language-conditioned robotic skills typically requires…

Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…

Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…

Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and…

Graph Neural Networks (GNNs) have achieved promising performance in a variety of graph-focused tasks. Despite their success, however, existing GNNs suffer from two significant limitations: a lack of interpretability in their results due to…

Robot learning has emerged as a promising tool for taming the complexity and diversity of the real world. Methods based on high-capacity models, such as deep networks, hold the promise of providing effective generalization to a wide range…

This work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation, dubbed RAM, featuring generalizability across various objects, environments, and embodiments. Unlike existing approaches that learn manipulation from…

3D object affordance grounding aims to predict the touchable regions on a 3d object, which is crucial for human-object interaction, human-robot interaction, embodied perception, and robot learning. Recent advances tackle this problem via…

3D Object Affordance Grounding aims to predict the functional regions on a 3D object and has laid the foundation for a wide range of applications in robotics. Recent advances tackle this problem via learning a mapping between 3D regions and…

Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…

Reliable robotic grasping in unstructured environments is a crucial but challenging task. The main problem is to generate the optimal grasp of novel objects from partial noisy observations. This paper presents an end-to-end grasp detection…

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…

Successful robotic grasping in cluttered environments not only requires a model to visually ground a target object but also to reason about obstructions that must be cleared beforehand. While current vision-language embodied reasoning…

Robots need to understand their environment to perform their task. If it is possible to pre-program a visual scene analysis process in closed environments, robots operating in an open environment would benefit from the ability to learn it…

Affordances, a foundational concept in human-computer interaction and design, have traditionally been explained by direct-perception theories, which assume that individuals perceive action possibilities directly from the environment.…

Grasping skill is a major ability that a wide number of real-life applications require for robotisation. State-of-the-art robotic grasping methods perform prediction of object grasp locations based on deep neural networks. However, such…

How human interact with objects depends on the functional roles of the target objects, which introduces the problem of affordance-aware hand-object interaction. It requires a large number of human demonstrations for the learning and…

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.…

A core problem of Embodied AI is to learn object manipulation from observation, as humans do. To achieve this, it is important to localize 3D object affordance areas through observation such as images (3D affordance grounding) and…