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RLAfford: End-to-End Affordance Learning for Robotic Manipulation
IEEE International Conference on Robotics and Automation, 2022Learning to manipulate 3D objects in an interactive environment has been a challenging problem in Reinforcement Learning (RL). In particular, it is hard to train a policy that can generalize over objects with different semantic categories, diverse shape ...
Yiran Geng +5 more
semanticscholar +1 more source
European Conference on Computer Vision
Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step toward open-world embodied intelligence. For human beings, this ability is rooted in the understanding of semantic correspondence among objects, which ...
Yuanchen Ju +5 more
semanticscholar +1 more source
Enabling robotic manipulation that generalizes to out-of-distribution scenes is a crucial step toward open-world embodied intelligence. For human beings, this ability is rooted in the understanding of semantic correspondence among objects, which ...
Yuanchen Ju +5 more
semanticscholar +1 more source
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation
Conference on Robot LearningThis work proposes a retrieve-and-transfer framework for zero-shot robotic manipulation, dubbed RAM, featuring generalizability across various objects, environments, and embodiments.
Yuxuan Kuang +7 more
semanticscholar +1 more source
2012
The implementation of affordable housing policies has grown apace during the past two decades, with housing affordability as a policy issue rising ever more quickly on the agendas of numerous governments in very recent years. Before examining the rationale, form and consequences of affordable housing policies later in the chapter, we consider first the
Leishman, C., Rowley, Steven
openaire +4 more sources
The implementation of affordable housing policies has grown apace during the past two decades, with housing affordability as a policy issue rising ever more quickly on the agendas of numerous governments in very recent years. Before examining the rationale, form and consequences of affordable housing policies later in the chapter, we consider first the
Leishman, C., Rowley, Steven
openaire +4 more sources
Affordance-based Robot Manipulation with Flow Matching
arXiv.orgWe present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios where gathering ...
Fan Zhang, Michael Gienger
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Language-Conditioned Affordance-Pose Detection in 3D Point Clouds
IEEE International Conference on Robotics and Automation, 2023Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding affordance task ...
Toan Nguyen +8 more
semanticscholar +1 more source
LASO: Language-Guided Affordance Segmentation on 3D Object
Computer Vision and Pattern RecognitionSegmenting affordance in 3D data is key for bridging perception and action in robots. Existing efforts mostly focus on the visual side and overlook the affordance knowledge from a semantic aspect.
Yicong Li +5 more
semanticscholar +1 more source
Leverage Interactive Affinity for Affordance Learning
Computer Vision and Pattern Recognition, 2023Perceiving potential “action possibilities” (i.e., affordance) regions of images and learning interactive functionalities of objects from human demonstration is a challenging task due to the diversity of human-object interactions.
Hongcheng Luo +4 more
semanticscholar +1 more source
AffordDP: Generalizable Diffusion Policy with Transferable Affordance
Computer Vision and Pattern RecognitionDiffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for diffusion policy ...
Shijie Wu +7 more
semanticscholar +1 more source
AutoGPT+P: Affordance-based Task Planning with Large Language Models
Robotics: Science and SystemsRecent advances in task planning leverage Large Language Models (LLMs) to improve generalizability by combining such models with classical planning algorithms to address their inherent limitations in reasoning capabilities. However, these approaches face
Timo Birr +3 more
semanticscholar +1 more source