One-Shot Affordance Learning (OSAL): Learning to Manipulate Articulated Objects by Observing Once
Ruomeng Fan,Taohan Wang,Masahiro Hirano,Yuji Yamakawa,Ruomeng Fan,Taohan Wang,Masahiro Hirano,Yuji Yamakawa
We present One-Shot Affordance Learning (OSAL): a unified pipeline that learns manipulation for articulated objects by observing human demonstration only once. The key idea of our method is to embody affordance of articulated objects with an open-loop trajectory conditioned on a certain area of the object's surface. It serves as a simplified object-centric manipulation representation, which can be...
