Recognizing Object Affordances to Support Scene Reasoning for Manipulation Tasks

Understand

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 enhance the flexibility of robot manipulation.
• Unfortunately, the top performing affordance recognition methods use object category priors to boost the accuracy of affordance detection and segmentation.
• Object priors limit generalization to unknown object categories.