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Found 12 papers, 3 papers with code
PreAfford: Universal Affordance-Based Pre-Grasping for Diverse Objects and Environments
Robotic manipulation of ungraspable objects with two-finger grippers presents significant challenges due to the paucity of graspable features, while traditional pre-grasping techniques, which rely on repositioning objects and leveraging external aids like table edges, lack the adaptability across object categories and scenes.
NaturalVLM: Leveraging Fine-grained Natural Language for Affordance-Guided Visual Manipulation
To address these challenges, we introduce a comprehensive benchmark, NrVLM, comprising 15 distinct manipulation tasks, containing over 4500 episodes meticulously annotated with fine-grained language instructions.
RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation
Robots need to explore their surroundings to adapt to and tackle tasks in unknown environments.
Learning Part Motion of Articulated Objects Using Spatially Continuous Neural Implicit Representations
More importantly, while many methods could only model a certain kind of joint motion (such as the revolution in the clockwise order), our proposed framework is generic to different kinds of joint motions in that transformation matrix can model diverse kinds of joint motions in the space.
Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objects
Our framework explicitly estimates the geometric similarity across different categories, identifying local areas that differ from shapes in the training categories for efficient exploration while concurrently transferring affordance knowledge to similar parts of the objects.
Leveraging SE(3) Equivariance for Learning 3D Geometric Shape Assembly
Shape assembly aims to reassemble parts (or fragments) into a complete object, which is a common task in our daily life.
Learning Foresightful Dense Visual Affordance for Deformable Object Manipulation
In this paper, we study deformable object manipulation using dense visual affordance, with generalization towards diverse states, and propose a novel kind of foresightful dense affordance, which avoids local optima by estimating states' values for long-term manipulation.
DualAfford: Learning Collaborative Visual Affordance for Dual-gripper Manipulation
It is essential yet challenging for future home-assistant robots to understand and manipulate diverse 3D objects in daily human environments.
AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactions
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.
VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objects
In this paper, we propose object-centric actionable visual priors as a novel perception-interaction handshaking point that the perception system outputs more actionable guidance than kinematic structure estimation, by predicting dense geometry-aware, interaction-aware, and task-aware visual action affordance and trajectory proposals.
Unpaired Image-to-Image Translation using Adversarial Consistency Loss
Cycle-consistency loss is a widely used constraint for such problems.
TDAPNet: Prototype Network with Recurrent Top-Down Attention for Robust Object Classification under Partial Occlusion
Despite deep convolutional neural networks' great success in object classification, it suffers from severe generalization performance drop under occlusion due to the inconsistency between training and testing data.
