Related papers: Language-Guided Grasp Detection with Coarse-to-Fin…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…
Task-oriented grasping is a crucial yet challenging task in robotic manipulation. Despite the recent progress, few existing methods address task-oriented grasping with dexterous hands. Dexterous hands provide better precision and…
Micro-gesture recognition (MGR) is challenging due to subtle inter-class variations. Existing methods rely on category-level supervision, which is insufficient for capturing subtle and localized motion differences. Thus, this paper proposes…
Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spatial relationships between objects. Vision-Language Models…
Applying Gaussian Splatting to perception tasks for 3D scene understanding is becoming increasingly popular. Most existing works primarily focus on rendering 2D feature maps from novel viewpoints, which leads to an imprecise 3D language…
Grasping objects in cluttered scenarios is a challenging task in robotics. Performing pre-grasp actions such as pushing and shifting to scatter objects is a way to reduce clutter. Based on deep reinforcement learning, we propose a…
Deep learning is typically performed by learning a neural network solely from data in the form of input-output pairs ignoring available domain knowledge. In this work, the Constraint Guided Gradient Descent (CGGD) framework is proposed that…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
Language-conditioned robot behavior plays a vital role in executing complex tasks by associating human commands or instructions with perception and actions. The ability to compose long-horizon tasks based on unconstrained language…
The hand plays a pivotal role in human ability to grasp and manipulate objects and controllable grasp synthesis is the key for successfully performing downstream tasks. Existing methods that use human intention or task-level language as…
Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…
To achieve a successful grasp, gripper attributes such as its geometry and kinematics play a role as important as the object geometry. The majority of previous work has focused on developing grasp methods that generalize over novel object…
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…
The ability to grasp objects is an essential skill that enables many robotic manipulation tasks. Recent works have studied point cloud-based methods for object grasping by starting from simulated datasets and have shown promising…
3D stylization, the application of specific styles to three-dimensional objects, offers substantial commercial potential by enabling the creation of uniquely styled 3D objects tailored to diverse scenes. Recent advancements in artificial…
Unsupervised large-scale vision-language pre-training has shown promising advances on various downstream tasks. Existing methods often model the cross-modal interaction either via the similarity of the global feature of each modality which…
Few-shot adaptation of vision-language models (VLMs) like CLIP typically relies on learning textual prompts matched to global image embeddings. Recent works extend this paradigm by incorporating local image-text alignment to capture…
Multi-modal large language models (MLLMs) have achieved remarkable success in fine-grained visual understanding across a range of tasks. However, they often encounter significant challenges due to inadequate alignment for fine-grained…
Robotic grasping is a primitive skill for complex tasks and is fundamental to intelligence. For general 6-Dof grasping, most previous methods directly extract scene-level semantic or geometric information, while few of them consider the…
Combining accurate geometry with rich semantics has been proven to be highly effective for language-guided robotic manipulation. Existing methods for dynamic scenes either fail to update in real-time or rely on additional depth sensors for…