[Submitted on 18 Jul 2024]
View a PDF of the paper titled Which objects help me to act effectively? Reasoning about physically-grounded affordances, by Anne Kemmeren and 4 other authors
Abstract:For effective interactions with the open world, robots should understand how interactions with known and novel objects help them towards their goal. A key aspect of this understanding lies in detecting an object’s affordances, which represent the potential effects that can be achieved by manipulating the object in various ways. Our approach leverages a dialogue of large language models (LLMs) and vision-language models (VLMs) to achieve open-world affordance detection. Given open-vocabulary descriptions of intended actions and effects, the useful objects in the environment are found. By grounding our system in the physical world, we account for the robot’s embodiment and the intrinsic properties of the objects it encounters. In our experiments, we have shown that our method produces tailored outputs based on different embodiments or intended effects. The method was able to select a useful object from a set of distractors. Finetuning the VLM for physical properties improved overall performance. These results underline the importance of grounding the affordance search in the physical world, by taking into account robot embodiment and the physical properties of objects.
Submission history
From: Gertjan Burghouts [view email]
[v1]
Thu, 18 Jul 2024 11:08:57 UTC (14,907 KB)
Source link
lol
