相关论文: Scene Graph for Embodied Exploration in Cluttered …

To understand a scene in depth not only involves locating/recognizing individual objects, but also requires to infer the relationships and interactions among them. However, since the distribution of real-world relationships is seriously…

In vision-based robot manipulation, a single camera view can only capture one side of objects of interest, with additional occlusions in cluttered scenes further restricting visibility. As a result, the observed geometry is incomplete, and…

6D grasping in cluttered scenes is a longstanding problem in robotic manipulation. Open-loop manipulation pipelines may fail due to inaccurate state estimation, while most end-to-end grasping methods have not yet scaled to complex scenes…

The deep learning models has significantly advanced dexterous manipulation techniques for multi-fingered hand grasping. However, the contact information-guided grasping in cluttered environments remains largely underexplored. To address…

In Embodied Question Answering (EmbodiedQA), an agent interacts with an environment to gather necessary information for answering user questions. Existing works have laid a solid foundation towards solving this interesting problem. But the…

Understanding a scene by decoding the visual relationships depicted in an image has been a long studied problem. While the recent advances in deep learning and the usage of deep neural networks have achieved near human accuracy on many…

In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such…

This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a LiDAR-panoramic camera suite. Existing approaches often struggle to…

In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-prehensile manipulation is challenging due to its…

We cast visual imitation as a visual correspondence problem. Our robotic agent is rewarded when its actions result in better matching of relative spatial configurations for corresponding visual entities detected in its workspace and…

As general intelligent agents are poised for widespread deployment in diverse households, evaluation tailored to each unique unseen 3D environment has become a critical prerequisite. However, existing benchmarks suffer from severe data…

It has been a long-standing dream to design artificial agents that explore their environment efficiently via intrinsic motivation, similar to how children perform curious free play. Despite recent advances in intrinsically motivated…

We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, or squeezing through narrow passages. To achieve this goal,…

A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its…

Visual Question answering is a challenging problem requiring a combination of concepts from Computer Vision and Natural Language Processing. Most existing approaches use a two streams strategy, computing image and question features that are…

Learning-based approaches to robotic manipulation are limited by the scalability of data collection and accessibility of labels. In this paper, we present a multi-task domain adaptation framework for instance grasping in cluttered scenes by…

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements. We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced…

Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…

The role of symmetry in computer vision has waxed and waned in importance during the evolution of the field from its earliest days. At first figuring prominently in support of bottom-up indexing, it fell out of favor as shape gave way to…

In this paper, a novel robotic grasping system is established to automatically pick up objects in cluttered scenes. A composite robotic hand composed of a suction cup and a gripper is designed for grasping the object stably. The suction cup…