相关论文: Grounding by Remembering: Cross-Scene and In-Scene…

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…

Affordance grounding refers to the task of finding the area of an object with which one can interact. It is a fundamental but challenging task, as a successful solution requires the comprehensive understanding of a scene in multiple aspects…

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…

Effective human-agent collaboration in physical environments requires understanding not only what to act upon, but also where the actionable elements are and how to interact with them. Existing approaches often operate at the object level…

Affordance learning is a complex challenge in many applications, where existing approaches primarily focus on the geometric structures, visual knowledge, and affordance labels of objects to determine interactable regions. However, extending…

Embodied reasoning is inherently viewpoint-dependent: what is visible, occluded, or reachable depends critically on where the agent stands. However, existing spatial memory systems for embodied agents typically store either multi-view…

Affordance grounding aims to localize the interaction regions for the manipulated objects in the scene image according to given instructions. A critical challenge in affordance grounding is that the embodied agent should understand human…

Affordance segmentation aims to decompose 3D objects into parts that serve distinct functional roles, enabling models to reason about object interactions rather than mere recognition. Existing methods, mostly following the paradigm of 3D…

Affordance grounding requires identifying where and how an agent should interact in open-world scenes, where actionable regions are often small, occluded, reflective, and visually ambiguous. Recent systems therefore combine multiple skills…

Embodied AI depends on interactive 3D environments that support meaningful activities for diverse users, yet assessing their functional affordances remains a core challenge. We introduce SceneTeract, a framework that verifies 3D scene…

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…

Grounding 3D object affordance is a task that locates objects in 3D space where they can be manipulated, which links perception and action for embodied intelligence. For example, for an intelligent robot, it is necessary to accurately…

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…

Grounding object affordance is fundamental to robotic manipulation as it establishes the critical link between perception and action among interacting objects. However, prior works predominantly focus on predicting single-object affordance,…

Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from…

Visual affordance grounding aims to segment all possible interaction regions between people and objects from an image/video, which is beneficial for many applications, such as robot grasping and action recognition. However, existing methods…

Despite significant advancements in text-to-motion synthesis, generating language-guided human motion within 3D environments poses substantial challenges. These challenges stem primarily from (i) the absence of powerful generative models…

Affordance grounding, a task to ground (i.e., localize) action possibility region in objects, which faces the challenge of establishing an explicit link with object parts due to the diversity of interactive affordance. Human has the ability…

Traditional learning from demonstration (LfD) generally demands a cumbersome collection of physical demonstrations, which can be time-consuming and challenging to scale. Recent advances show that robots can instead learn from human videos…

Affordance reasoning in 3D Gaussian scenes aims to identify the region that supports the action specified by a given text instruction in complex environments. Existing methods typically cast this problem as one-shot prediction from static…