Affordance

[IJCV22] Scene Reconstruction with Functional Objects for Robot Autonomy

In this paper, we rethink the problem of scene reconstruction from an embodied agent’s perspective: While the classic view focuses on …

Muzhi Han, Zeyu Zhang, Ziyuan Jiao, Xu Xie, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

[IJCV22] Scene Reconstruction with Functional Objects for Robot Autonomy

[RA-L/IROS22] Understanding Physical Effects for Effective Tool-use

We present a robot learning and planning framework that produces an effective tool-use strategy with the least joint efforts, capable …

Zeyu Zhang, Ziyuan Jiao, Weiqi Wang, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

[RA-L/IROS22] Understanding Physical Effects for Effective Tool-use

[arXiv22] PartAfford: Part-level Affordance Discovery from 3D Objects

Understanding what objects could furnish for humans-namely, learning object affordance-is the crux to bridge perception and action. In …

Chao Xu, Yixin Chen, He Wang, Song-Chun Zhu, Yixin Zhu, Siyuan Huang

[arXiv21] HALMA: Humanlike Abstraction Learning Meets Affordance in Rapid Problem Solving

Humans learn compositional and causal abstraction, i.e., knowledge, in response to the structure of naturalistic tasks. When presented …

Sirui Xie, Xiaojian Ma, Peiyu Yu, Yixin Zhu, Ying Nian Wu, Song-Chun Zhu

[arXiv21] HALMA: Humanlike Abstraction Learning Meets Affordance in Rapid Problem Solving

[ICRA21] Reconstructing Interactive 3D Scene by Panoptic Mapping and CAD Model Alignments

In this paper, we rethink the problem of scene reconstruction from an embodied agent’s perspective: While the classic view …

Muzhi Han, Zeyu Zhang, Ziyuan Jiao, Xu Xie, Yixin Zhu, Song-Chun Zhu, Hangxin Liu

[ICRA21] Reconstructing Interactive 3D Scene by Panoptic Mapping and CAD Model Alignments

[ICCV19] Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsense

We propose a new 3D holistic++ scene understanding problem, which jointly tackles two tasks from a single-view image: (i) holistic …

Yixin Chen, Siyuan Huang, Tao Yuan, Yixin Zhu, Siyuan Qi, Song-Chun Zhu

[ICCV19] Holistic++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsense

[NeurIPS18] Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimation

Holistic 3D indoor scene understanding refers to jointly recovering the i) object bounding boxes, ii) room layout, and iii) camera …

Siyuan Huang, Siyuan Qi, Yinxue Xiao, Yixin Zhu, Ying Nian Wu, Song-Chun Zhu

[NeurIPS18] Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimation

[ECCV18] Holistic 3D Scene Parsing and Reconstruction from a Single RGB Image

We propose a computational framework to jointly parse a single RGB image and reconstruct a holistic 3D configuration composed by a set …

Siyuan Huang, Siyuan Qi, Yixin Zhu, Yinxue Xiao, Yuanlu Xu, Song-Chun Zhu

[ECCV18] Holistic 3D Scene Parsing and Reconstruction from a Single RGB Image

[IJCV18] Configurable 3D Scene Synthesis and 2D Image Rendering with Per-Pixel Ground Truth using Stochastic Grammars

We propose a systematic learning-based approach to the generation of massive quantities of synthetic 3D scenes and arbitrary numbers of …

Chenfanfu Jiang, Siyuan Qi, Yixin Zhu, Siyuan Huang, Jenny Lin, Lapfai Yu, Demetri Terzopoulos, Song-Chun Zhu

[IJCV18] Configurable 3D Scene Synthesis and 2D Image Rendering with Per-Pixel Ground Truth using Stochastic Grammars

[CVPR18] Human-centric Indoor Scene Synthesis Using Stochastic Grammar

We present a human-centric method to sample and synthesize 3D room layouts and 2D images thereof, for the purpose of obtaining …

Siyuan Qi, Yixin Zhu, Siyuan Huang, Chenfanfu Jiang, Song-Chun Zhu

[CVPR18] Human-centric Indoor Scene Synthesis Using Stochastic Grammar