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Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation.
Recovery of parametric models from range images: The case for superquadrics with global deformations
Franc Solina and Ruzena Bajcsy · 1990
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Superquadrics for segmenting and modeling range data
Ales Leonardis, Ales Jaklic, and Franc Solina · 1997
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Segmentation and superquadric modeling of 3d objects
Laurent Chevalier, Fabrice Jaillet, and Atilla Baskurt · 2003
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Microsoft coco: Common objects in context
Tsung-Yi Lin, Michael Maire, Serge Belongie, James Hays, Pietro Perona, Deva Ramanan, Piotr Dollár, and C Lawrence Zitnick · 2014
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Hico: A benchmark for recognizing human-object interactions in images
Yu-Wei Chao, Zhan Wang, Yugeng He, Jiaxuan Wang, and Jia Deng · 2015
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Affordance detection of tool parts from geometric features
Austin Myers, Ching L Teo, Cornelia Fermüller, and Yiannis Aloimonos · 2015
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Attribute based affordance detection from human-object interaction images
Mahmudul Hassan and Anuja Dharmaratne · 2016
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Focal loss for dense object detection
T Lin · 2017
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Decoupled weight decay regularization
I Loshchilov · 2017
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Dbscan revisited, revisited: why and how you should (still) use dbscan
Erich Schubert, Jörg Sander, Martin Ester, Hans Peter Kriegel, and Xiaowei Xu · 2017
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A grasping approach based on superquadric models
Giulia Vezzani, Ugo Pattacini, and Lorenzo Natale · 2017
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Vision-and-language navigation: Interpreting visually-grounded navigation instructions in real environments
Peter Anderson, Qi Wu, Damien Teney, Jake Bruce, Mark Johnson, Niko Sünderhauf, Ian Reid, Stephen Gould, and Anton Van Den Hengel · 2018
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Improving superquadric modeling and grasping with prior on object shapes
Giulia Vezzani, Ugo Pattacini, Giulia Pasquale, and Lorenzo Natale · 2018
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Taskonomy: Disentangling task transfer learning
Amir R Zamir, Alexander Sax, William Shen, Leonidas J Guibas, Jitendra Malik, and Silvio Savarese · 2018
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Learning affordance segmentation for real-world robotic manipulation via synthetic images
Fu-Jen Chu, Ruinian Xu, and Patricio A Vela · 2019
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Superquadrics revisited: Learning 3d shape parsing beyond cuboids
Despoina Paschalidou, Ali Osman Ulusoy, and Andreas Geiger · 2019
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An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy · 2020
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Graspnet-1billion: A large-scale benchmark for general object grasping
Hao-Shu Fang, Chenxi Wang, Minghao Gou, and Cewu Lu · 2020
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Rlbench: The robot learning benchmark & learning environment
Stephen James, Zicong Ma, David Rovick Arrojo, and Andrew J Davison · 2020
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Learning task-oriented grasping from human activity datasets
Mia Kokic, Danica Kragic, and Jeannette Bohg · 2020
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Beyond the nav-graph: Vision-and-language navigation in continuous environments
Jacob Krantz, Erik Wijmans, Arjun Majumdar, Dhruv Batra, and Stefan Lee · 2020
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Learning unsupervised hierarchical part decomposition of 3d objects from a single rgb image
Despoina Paschalidou, Luc Van Gool, and Andreas Geiger · 2020
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Emerging properties in self-supervised vision transformers
Mathilde Caron, Hugo Touvron, Ishan Misra, Hervé Jégou, Julien Mairal, Piotr Bojanowski, and Armand Joulin · 2021
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Affordance transfer learning for human-object interaction detection
Zhi Hou, Baosheng Yu, Yu Qiao, Xiaojiang Peng, and Dacheng Tao · 2021
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Waypoint models for instruction-guided navigation in continuous environments
Jacob Krantz, Aaron Gokaslan, Dhruv Batra, Stefan Lee, and Oleksandr Maksymets · 2021
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Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2021
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Where2act: From pixels to actions for articulated 3d objects
Kaichun Mo, Leonidas J Guibas, Mustafa Mukadam, Abhinav Gupta, and Shubham Tulsiani · 2021
Cited alongside, same era.
Do as i can, not as i say: Grounding language in robotic affordances
Michael Ahn, Anthony Brohan, Noah Brown, Yevgen Chebotar, Omar Cortes, Byron David, Chelsea Finn, Chuyuan Fu, Keerthana Gopalakrishnan, Karol Hausman, et al · 2022
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Rescaling egocentric vision: Collection, pipeline and challenges for epic-kitchens-100
Dima Damen, Hazel Doughty, Giovanni Maria Farinella, Antonino Furnari, Evangelos Kazakos, Jian Ma, Davide Moltisanti, Jonathan Munro, Toby Perrett, Will Price, et al · 2022
Understanding 3d object interaction from a single image
Shengyi Qian and David F Fouhey · 2023
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Language embedded radiance fields for zero-shot task-oriented grasping
Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, and Ken Goldberg · 2023
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Distilled feature fields enable few-shot language-guided manipulation
William Shen, Ge Yang, Alan Yu, Jansen Wong, Leslie Pack Kaelbling, and Phillip Isola · 2023
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Perceiver-actor: A multi-task transformer for robotic manipulation
Mohit Shridhar, Lucas Manuelli, and Dieter Fox · 2023
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Learning 6-dof fine-grained grasp detection based on part affordance grounding
Yaoxian Song, Penglei Sun, Yi Ren, Yu Zheng, and Yue Zhang · 2023
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Ego4d: Around the world in 3,000 hours of egocentric video
Kristen Grauman, Andrew Westbury, Eugene Byrne, Zachary Chavis, Antonino Furnari, Rohit Girdhar, Jackson Hamburger, Hao Jiang, Miao Liu, Xingyu Liu, et al · 2022
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Masked autoencoders are scalable vision learners
Kaiming He, Xinlei Chen, Saining Xie, Yanghao Li, Piotr Dollár, and Ross Girshick · 2022
Cited alongside, same era.
Robust and accurate superquadric recovery: A probabilistic approach
Weixiao Liu, Yuwei Wu, Sipu Ruan, and Gregory S Chirikjian · 2022
Cited alongside, same era.
Simple open-vocabulary object detection
Matthias Minderer, Alexey Gritsenko, Austin Stone, Maxim Neumann, Dirk Weissenborn, Alexey Dosovitskiy, Aravindh Mahendran, Anurag Arnab, Mostafa Dehghani, Zhuoran Shen, et al · 2022
Cited alongside, same era.
Understanding 3d object articulation in internet videos
Shengyi Qian, Linyi Jin, Chris Rockwell, Siyi Chen, and David F Fouhey · 2022
Cited alongside, same era.
Chain-of-thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Fei Xia, Ed Chi, Quoc V Le, Denny Zhou, et al · 2022
Cited alongside, same era.
Affordances from human videos as a versatile representation for robotics
Shikhar Bahl, Russell Mendonca, Lili Chen, Unnat Jain, and Deepak Pathak · 2023
Cited alongside, same era.
A joint modeling of vision-language-action for target-oriented grasping in clutter
Kechun Xu, Shuqi Zhao, Zhongxiang Zhou, Zizhang Li, Huaijin Pi, Yifeng Zhu, Yue Wang, and Rong Xiong · 2023
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Dinobot: Robot manipulation via retrieval and alignment with vision foundation models
Norman Di Palo and Edward Johns · 2024
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Seed-x: Multimodal models with unified multi-granularity comprehension and generation
Yuying Ge, Sijie Zhao, Jinguo Zhu, Yixiao Ge, Kun Yi, Lin Song, Chen Li, Xiaohan Ding, and Ying Shan · 2024
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A3vlm: Actionable articulation-aware vision language model
Siyuan Huang, Haonan Chang, Yuhan Liu, Yimeng Zhu, Hao Dong, Peng Gao, Abdeslam Boularias, and Hongsheng Li · 2024
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Yuanchen Ju, Kaizhe Hu, Guowei Zhang, Gu Zhang, Mingrun Jiang, and Huazhe Xu · 2024
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Ram: Retrieval-based affordance transfer for generalizable zero-shot robotic manipulation
Yuxuan Kuang, Junjie Ye, Haoran Geng, Jiageng Mao, Congyue Deng, Leonidas Guibas, He Wang, and Yue Wang · 2024
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Lisa: Reasoning segmentation via large language model
Xin Lai, Zhuotao Tian, Yukang Chen, Yanwei Li, Yuhui Yuan, Shu Liu, and Jiaya Jia · 2024
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Articulated object manipulation with coarse-to-fine affordance for mitigating the effect of point cloud noise
Suhan Ling, Yian Wang, Ruihai Wu, Shiguang Wu, Yuzheng Zhuang, Tianyi Xu, Yu Li, Chang Liu, and Hao Dong · 2024
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Ok-robot: What really matters in integrating open-knowledge models for robotics
Peiqi Liu, Yaswanth Orru, Chris Paxton, Nur Muhammad Mahi Shafiullah, and Lerrel Pinto · 2024
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Manigaussian: Dynamic gaussian splatting for multi-task robotic manipulation
Guanxing Lu, Shiyi Zhang, Ziwei Wang, Changliu Liu, Jiwen Lu, and Yansong Tang · 2024
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Grounded affordance from exocentric view
Hongchen Luo, Wei Zhai, Jing Zhang, Yang Cao, and Dacheng Tao · 2024
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Contrastive imitation learning for language-guided multi-task robotic manipulation
Teli Ma, Jiaming Zhou, Zifan Wang, Ronghe Qiu, and Junwei Liang · 2024
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Where2explore: Few-shot affordance learning for unseen novel categories of articulated objects
Chuanruo Ning, Ruihai Wu, Haoran Lu, Kaichun Mo, and Hao Dong · 2024
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Affordancellm: Grounding affordance from vision language models
Shengyi Qian, Weifeng Chen, Min Bai, Xiong Zhou, Zhuowen Tu, and Li Erran Li · 2024
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Learning generalizable feature fields for mobile manipulation
Ri-Zhao Qiu, Yafei Hu, Ge Yang, Yuchen Song, Yang Fu, Jianglong Ye, Jiteng Mu, Ruihan Yang, Nikolay Atanasov, Sebastian Scherer, et al · 2024
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Glamm: Pixel grounding large multimodal model
Hanoona Rasheed, Muhammad Maaz, Sahal Shaji, Abdelrahman Shaker, Salman Khan, Hisham Cholakkal, Rao M Anwer, Eric Xing, Ming-Hsuan Yang, and Fahad S Khan · 2024
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Learning environment-aware affordance for 3d articulated object manipulation under occlusions
Ruihai Wu, Kai Cheng, Yan Zhao, Chuanruo Ning, Guanqi Zhan, and Hao Dong · 2024
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Gaussiangrasper: 3d language gaussian splatting for open-vocabulary robotic grasping
Yuhang Zheng, Xiangyu Chen, Yupeng Zheng, Songen Gu, Runyi Yang, Bu Jin, Pengfei Li, Chengliang Zhong, Zengmao Wang, Lina Liu, et al · 2024
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