Related papers: GraspCoT: Integrating Physical Property Reasoning …
This study investigates the spatial reasoning capabilities of vision-language models (VLMs) through Chain-of-Thought (CoT) prompting and reinforcement learning. We begin by evaluating the impact of different prompting strategies and find…
Open-Vocabulary 3D object affordance grounding aims to anticipate ``action possibilities'' regions on 3D objects with arbitrary instructions, which is crucial for robots to generically perceive real scenarios and respond to operational…
Inferring affordable (i.e., graspable) parts of arbitrary objects based on human specifications is essential for robots advancing toward open-vocabulary manipulation. Current grasp planners, however, are hindered by limited vision-language…
The advent of Large Multimodal Models (LMMs) has sparked a surge in research aimed at harnessing their remarkable reasoning abilities. However, for understanding text-rich images, challenges persist in fully leveraging the potential of…
Ambiguity poses a major challenge to large language models (LLMs) used as robotic planners. In this letter, we present Scene Graph-Chain-of-Thought (SG-CoT), a two-stage framework where LLMs iteratively query a scene graph representation of…
Grasp detection in clutter requires the robot to reason about the 3D scene from incomplete and noisy perception. In this work, we draw insight that 3D reconstruction and grasp learning are two intimately connected tasks, both of which…
Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…
Proposing grasp poses for novel objects is an essential component for any robot manipulation task. Planning six degrees of freedom (DoF) grasps with a single camera, however, is challenging due to the complex object shape, incomplete object…
This paper presents GRASP, a novel benchmark to evaluate the language grounding and physical understanding capabilities of video-based multimodal large language models (LLMs). This evaluation is accomplished via a two-tier approach…
Accurately understanding the intent behind speech, conversation, and writing is crucial to the development of helpful Large Language Model (LLM) assistants. This paper introduces IntentGrasp, a comprehensive benchmark for evaluating the…
Single-view RGB-D grasp detection remains a common choice in 6-DoF robotic grasping systems, which typically requires a depth sensor. While RGB-only 6-DoF grasp methods has been studied recently, their inaccurate geometric representation is…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
In this paper, we study the problem of learning vision-based dynamic manipulation skills using a scalable reinforcement learning approach. We study this problem in the context of grasping, a longstanding challenge in robotic manipulation.…
As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…
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…
Language-guided grasping has emerged as a promising paradigm for enabling robots to identify and manipulate target objects through natural language instructions, yet it remains highly challenging in cluttered or occluded scenes. Existing…
As robots become more widely available outside industrial settings, the need for reliable object grasping and manipulation is increasing. In such environments, robots must be able to grasp and manipulate novel objects in various situations.…