相关论文: Task-Aware 3D Affordance Segmentation via 2D Guida…

Perceiving and interacting with 3D articulated objects, such as cabinets, doors, and faucets, pose particular challenges for future home-assistant robots performing daily tasks in human environments. Besides parsing the articulated parts…

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…

Affordances have been introduced in literature as action opportunities that objects offer, and used in robotics to semantically represent their interconnection. However, when considering an environment instead of an object, the problem…

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…

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…

In this work, we focus on the task of weakly supervised affordance grounding, where a model is trained to identify affordance regions on objects using human-object interaction images and egocentric object images without dense labels.…

Learning semantic representations from point sets of 3D object shapes is often challenged by significant geometric variations, primarily due to differences in data acquisition methods. Typically, training data is generated using point…

Scene graphs have emerged as a powerful tool for robots, providing a structured representation of spatial and semantic relationships for advanced task planning. Despite their potential, conventional 3D indoor scene graphs face critical…

Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…

The central challenge in robotic manipulation of deformable objects lies in aligning high-level semantic instructions with physical interaction points under complex appearance and texture variations. Due to near-infinite degrees of freedom,…

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…

Current visual foundation models are trained purely on unstructured 2D data, limiting their understanding of 3D structure of objects and scenes. In this work, we show that fine-tuning on 3D-aware data improves the quality of emerging…

The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Dexterous manipulation requires precise geometric reasoning, yet existing visuo-tactile learning methods struggle with sub-millimeter precision tasks that are routine for traditional model-based approaches. We identify a key limitation:…

With significant annotation savings, point supervision has been proven effective for numerous 2D and 3D scene understanding problems. This success is primarily attributed to the structured output space; i.e., samples with high spatial…

Functionality segmentation in 3D scenes requires an agent to ground implicit natural-language instructions into precise masks of fine-grained interactive elements. Existing methods rely on fragmented pipelines that suffer from visual…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

In Unsupervised Domain Adaptive Semantic Segmentation (UDA-SS), a model is trained on labeled source domain data (e.g., synthetic images) and adapted to an unlabeled target domain (e.g., real-world images) without access to target…

3D weakly supervised semantic segmentation (3D WSSS) aims to achieve semantic segmentation by leveraging sparse or low-cost annotated data, significantly reducing reliance on dense point-wise annotations. Previous works mainly employ class…