In Defense of the Direct Perception of Affordances
The field of functional recognition or affordance estimation from images has seen a revival in recent years. As originally proposed by Gibson, the affordances of a scene were directly perceived from the ambient light: in other words, functional properties like sittable were estimated directly from incoming pixels. Recent work, however, has taken a mediated approach in which affordances are derived by first estimating semantics or geometry and then reasoning about the affordances. In a tribute to Gibson, this paper explores his theory of affordances as originally proposed. We propose two approaches for direct perception of affordances and show that they obtain good results and can out-perform mediated approaches. We hope this paper can rekindle discussion around direct perception and its implications in the long term.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
Building Affordance Relations for Robotic Agents - A Review
Affordances describe the possibilities for an agent to perform actions with an object. While the significance of the affordance concept has been previously studied from varied perspectives, such as psychology and cogniti…
AI AgentAffordance as general value function: A computational model
General value functions (GVFs) in the reinforcement learning (RL) literature are long-term predictive summaries of the outcomes of agents following specific policies in the environment. Affordances as perceived action po…
Autonomous DrivingmodelReinforcement Learning (RL)Building an Affordances Map with Interactive Perception
Robots need to understand their environment to perform their task. If it is possible to pre-program a visual scene analysis process in closed environments, robots operating in an open environment would benefit from the a…
General ClassificationScene UnderstandingAffordances Provide a Fundamental Categorization Principle for Visual Scenes
How do we know that a kitchen is a kitchen by looking? Relatively little is known about how we conceptualize and categorize different visual environments. Traditional models of visual perception posit that scene categori…
A Distributional Model of Affordances in Semantic Type Coercion
We explore a novel application for interpreting semantic type coercions, motivated by insight into the role that perceptual affordances play in the selection of the semantic roles of artefactual nouns which are observed …
Vocal Bursts Type Prediction