Related papers: A Parameter-Efficient Tuning Framework for Languag…
Language-guided robotic grasping is a rapidly advancing field where robots are instructed using human language to grasp specific objects. However, existing methods often depend on dense camera views and struggle to quickly update scenes,…
This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…
Grasp detection is an essential task in robotics with various industrial applications. However, traditional methods often struggle with occlusions and do not utilize language for grasping. Incorporating natural language into grasp detection…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…
Building semantic 3D maps is valuable for searching for objects of interest in offices, warehouses, stores, and homes. We present a mapping system that incrementally builds a Language-Embedded Gaussian Splat (LEGS): a detailed 3D scene…
Robots interacting with humans through natural language can unlock numerous applications such as Referring Grasp Synthesis (RGS). Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's…
Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods incorporate semantic…
Grasping by a robot in unstructured environments is deemed a critical challenge because of the requirement for effective adaptation to a wide variation in object geometries, material properties, and other environmental factors. In this…
Multi-task visual grounding (MTVG) includes two sub-tasks, i.e., Referring Expression Comprehension (REC) and Referring Expression Segmentation (RES). The existing representative approaches generally follow the research pipeline which…
In this paper, we propose Lan-grasp, a novel approach towards more appropriate semantic grasping and placing. We leverage foundation models to equip the robot with a semantic understanding of object geometry, enabling it to identify the…
Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…
This paper presents a grounded language-image pre-training (GLIP) model for learning object-level, language-aware, and semantic-rich visual representations. GLIP unifies object detection and phrase grounding for pre-training. The…
Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
Vision-and-language pre-training (VLP) models have experienced a surge in popularity recently. By fine-tuning them on specific datasets, significant performance improvements have been observed in various tasks. However, full fine-tuning of…
Controlling robots through natural language is pivotal for enhancing human-robot collaboration and synthesizing complex robot behaviors. Recent works that are trained on large robot datasets show impressive generalization abilities.…
Adapting pre-trained models has become an effective strategy in artificial intelligence, offering a scalable and efficient alternative to training models from scratch. In the context of remote sensing (RS), where visual grounding(VG)…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…
As the model size of pre-trained language models (PLMs) grows rapidly, full fine-tuning becomes prohibitively expensive for model training and storage. In vision-and-language (VL), parameter-efficient tuning (PET) techniques are proposed to…
Flexible instruction-guided 6-DoF grasping is a significant yet challenging task for real-world robotic systems. Existing methods utilize the contextual understanding capabilities of the large language models (LLMs) to establish mappings…