CoRL 2022poster44 citations
One-Shot Transfer of Affordance Regions? AffCorrs!
Denis Hadjivelichkov, Sicelukwanda Zwane, Lourdes Agapito, Marc Peter Deisenroth, Dimitrios Kanoulas
Abstract
In this work, we tackle one-shot visual search of object parts. Given a single reference image of an object with annotated affordance regions, we segment semantically corresponding parts within a target scene. We propose AffCorrs, an unsupervised model that combines the properties of pre-trained DINO-ViT's image descriptors and cyclic correspondences. We use AffCorrs to find corresponding affordances both for intra- and inter-class one-shot part segmentation. This task is more difficult than supervised alternatives, but enables future work such as learning affordances via imitation and assisted teleoperation.
One-shotAffordanceCorrespondence
BibTeX
@inproceedings{
hadjivelichkov2022oneshot,
title={One-Shot Transfer of Affordance Regions? AffCorrs!},
author={Denis Hadjivelichkov and Sicelukwanda Zwane and Lourdes Agapito and Marc Peter Deisenroth and Dimitrios Kanoulas},
booktitle={6th Annual Conference on Robot Learning},
year={2022},
url={https://openreview.net/forum?id=GeM6VUwYinO}
}