相关论文: Actron3D: Learning Actionable Neural Functions fro…

Affordance information about a scene provides important clues as to what actions may be executed in pursuit of meeting a specified goal state. Thus, integrating affordance-based reasoning into symbolic action plannning pipelines would…

Visual affordance learning is a key component for robots to understand how to interact with objects. Conventional approaches in this field rely on pre-defined objects and actions, falling short of capturing diverse interactions in realworld…

Translating high-level linguistic instructions into precise robotic actions in the physical world remains challenging, particularly when considering the feasibility of interacting with 3D objects. In this paper, we introduce 3D-TAFS, a…

Motivated by the stringent requirements of unstructured real-world where a plethora of unknown objects reside in arbitrary locations of the surface, we propose a voxel-based deep 3D Convolutional Neural Network (3D CNN) that generates…

Functional affordance grounding requires more than recognizing an object: an agent must localize the specific region that supports an interaction, such as the handle to pull or the button to press. This is difficult for training-free…

Despite strong results on recognition and segmentation, current 3D visual pre-training methods often underperform on robotic manipulation. We attribute this gap to two factors: the lack of state-action-state dynamics modeling and the…

This paper addresses the challenge of reconstructing an animatable human model from a multi-view video. Some recent works have proposed to decompose a non-rigidly deforming scene into a canonical neural radiance field and a set of…

Humans are able to seamlessly visually imitate others, by inferring their intentions and using past experience to achieve the same end goal. In other words, we can parse complex semantic knowledge from raw video and efficiently translate…

Object affordance is an important concept in hand-object interaction, providing information on action possibilities based on human motor capacity and objects' physical property thus benefiting tasks such as action anticipation and robot…

Humans have a strong intuitive understanding of the 3D environment around us. The mental model of the physics in our brain applies to objects of different materials and enables us to perform a wide range of manipulation tasks that are far…

In this paper, we present a general framework for learning social affordance grammar as a spatiotemporal AND-OR graph (ST-AOG) from RGB-D videos of human interactions, and transfer the grammar to humanoids to enable a real-time motion…

We present an approach to learn general robot manipulation priors from 3D hand-object interaction trajectories. We build a framework to use in-the-wild videos to generate sensorimotor robot trajectories. We do so by lifting both the human…

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…

Recognizing human actions in untrimmed videos is an important challenging task. An effective 3D motion representation and a powerful learning model are two key factors influencing recognition performance. In this paper we introduce a new…

As a popular concept proposed in the field of psychology, affordance has been regarded as one of the important abilities that enable humans to understand and interact with the environment. Briefly, it captures the possibilities and effects…

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…

We address the problem of robotic grasping of known and unknown objects using implicit behavior cloning. We train a grasp evaluation model from a small number of demonstrations that outputs higher values for grasp candidates that are more…

Data-efficient training of robust robot policies is the key to unlocking automation in a wide array of novel tasks. Current systems require large volumes of demonstrations to achieve robustness, which is impractical in many applications.…

To realize human-robot collaboration, robots need to execute actions for new tasks according to human instructions given finite prior knowledge. Human experts can share their knowledge of how to perform a task with a robot through…

Fine manipulation tasks, such as threading cable ties or slotting a battery, are notoriously difficult for robots because they require precision, careful coordination of contact forces, and closed-loop visual feedback. Performing these…