Related papers: Attribute-based Object Grounding and Robot Grasp D…
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…
Grasp detection with consideration of the affiliations between grasps and their owner in object overlapping scenes is a necessary and challenging task for the practical use of the robotic grasping approach. In this paper, a robotic grasp…
In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…
To manipulate objects in novel, unstructured environments, robots need task-oriented grasps that target object parts based on the given task. Geometry-based methods often struggle with visually defined parts, occlusions, and unseen objects.…
Grasp is an essential skill for robots to interact with humans and the environment. In this paper, we build a vision-based, robust and real-time robotic grasp approach with fully convolutional neural network. The main component of our…
Object grounding tasks aim to locate the target object in an image through verbal communications. Understanding human command is an important process needed for effective human-robot communication. However, this is challenging because human…
Remote Sensing Visual Grounding (RSVG) aims to localize target objects in large-scale aerial imagery based on natural language descriptions. Owing to the vast spatial scale and high semantic ambiguity of remote sensing scenes, these…
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…
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…
Interactive Object Grasping (IOG) is the task of identifying and grasping the desired object via human-robot natural language interaction. Current IOG systems assume that a human user initially specifies the target object's category (e.g.,…
Robotic grasping is a fundamental ability for a robot to interact with the environment. Current methods focus on how to obtain a stable and reliable grasping pose in object level, while little work has been studied on part (shape)-wise…
Task-oriented grasping of unfamiliar objects is a necessary skill for robots in dynamic in-home environments. Inspired by the human capability to grasp such objects through intuition about their shape and structure, we present a novel…
Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis,…
Task-oriented grasping (TOG) is crucial for robots to accomplish manipulation tasks, requiring the determination of TOG positions and directions. Existing methods either rely on costly manual TOG annotations or only extract coarse grasping…
When robots retrieve specific objects from cluttered scenes, such as home and warehouse environments, the target objects are often partially occluded or completely hidden. Robots are thus required to search, identify a target object, and…
Articulated object manipulation remains a critical challenge in robotics due to the complex kinematic constraints and the limited physical reasoning of existing methods. In this work, we introduce ArtGS, a novel framework that extends 3D…
Visual-language grounding aims to establish semantic correspondences between natural language and visual entities, enabling models to accurately identify and localize target objects based on textual instructions. Existing VLG approaches…
Interactive robotic grasping using natural language is one of the most fundamental tasks in human-robot interaction. However, language can be a source of ambiguity, particularly when there are ambiguous visual or linguistic contents. This…
Service robots are expected to autonomously and efficiently work in human-centric environments. For this type of robots, object perception and manipulation are challenging tasks due to need for accurate and real-time response. This paper…
3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…