相关论文: Learning Visual Affordance from Audio

We propose a new problem called audio-visual segmentation (AVS), in which the goal is to output a pixel-level map of the object(s) that produce sound at the time of the image frame. To facilitate this research, we construct the first…

An immersive acoustic experience enabled by spatial audio is just as crucial as the visual aspect in creating realistic virtual environments. However, existing methods for room impulse response estimation rely either on data-demanding…

Audio-visual segmentation (AVS) aims to segment sound sources in the video sequence, requiring a pixel-level understanding of audio-visual correspondence. As the Segment Anything Model (SAM) has strongly impacted extensive fields of dense…

Audio-Visual Semantic Segmentation (AVSS) aligns audio and video at the pixel level but requires costly per-frame annotations. We introduce Weakly Supervised Audio-Visual Semantic Segmentation (WSAVSS), which uses only video-level labels to…

Referring Audio-Visual Segmentation (Ref-AVS) aims to segment target objects in audible videos based on given reference expressions. Prior works typically rely on learning latent embeddings via multimodal fusion to prompt a tunable SAM/SAM2…

Acquiring knowledge about object interactions and affordances can facilitate scene understanding and human-robot collaboration tasks. As humans tend to use objects in many different ways depending on the scene and the objects' availability,…

Visual information can serve as an effective cue for target speaker extraction (TSE) and is vital to improving extraction performance. In this paper, we propose AV-SepFormer, a SepFormer-based attention dual-scale model that utilizes cross-…

Affordance knowledge is a fundamental aspect of commonsense knowledge. Recent findings indicate that world knowledge emerges through large-scale self-supervised pretraining, motivating our exploration of acquiring affordance knowledge from…

Audio-visual segmentation (AVS) is an emerging task that aims to accurately segment sounding objects based on audio-visual cues. The success of AVS learning systems depends on the effectiveness of cross-modal interaction. Such a requirement…

Deformable object manipulation in robotics presents significant challenges due to uncertainties in component properties, diverse configurations, visual interference, and ambiguous prompts. These factors complicate both perception and…

Recent advances in Vision-Language-Action (VLA) models have shown strong potential for general-purpose robotic manipulation. However, the visual representations of most VLA models are often dominated by global object appearance and struggle…

Affordance refers to the functional properties that an agent perceives and utilizes from its environment, and is key perceptual information required for robots to perform actions. This information is rich and multimodal in nature. Existing…

Robotic manipulation and navigation are fundamental capabilities of embodied intelligence, enabling effective robot interactions with the physical world. Achieving these capabilities requires a cohesive understanding of the environment,…

In order for robots to interact with objects effectively, they must understand the form and function of each object they encounter. Essentially, robots need to understand which actions each object affords, and where those affordances can be…

Affordance reasoning provides a principled link between perception and action, yet remains underexplored in surgical robotics, where tissues are highly deformable, compliant, and dynamically coupled with tool motion. We present arg-VU, a…

We introduce a novel self-supervised pretext task for learning representations from audio-visual content. Prior work on audio-visual representation learning leverages correspondences at the video level. Approaches based on audio-visual…

Recently audio-visual speech recognition (AVSR), which better leverages video modality as additional information to extend automatic speech recognition (ASR), has shown promising results in complex acoustic environments. However, there is…

Audio-Visual Segmentation (AVS) aims to produce pixel-level masks of sound producing objects in videos, by jointly learning from audio and visual signals. However, real-world environments are inherently dynamic, causing audio and visual…

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…

Grounding 3D scene affordance aims to locate interactive regions in 3D environments, which is crucial for embodied agents to interact intelligently with their surroundings. Most existing approaches achieve this by mapping semantics to 3D…