相关论文: Open-Vocabulary Affordance Detection using Knowled…

Affordance detection is a challenging problem with a wide variety of robotic applications. Traditional affordance detection methods are limited to a predefined set of affordance labels, hence potentially restricting the adaptability of…

Affordance detection and pose estimation are of great importance in many robotic applications. Their combination helps the robot gain an enhanced manipulation capability, in which the generated pose can facilitate the corresponding…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language models (MLLMs) with special output tokens that are decoded…

In this work, we address the challenge of affordance detection in 3D point clouds, a task that requires effectively capturing fine-grained alignments between point clouds and text. Existing methods often struggle to model such alignments,…

Affordance detection from visual input is a fundamental step in autonomous robotic manipulation. Existing solutions to the problem of affordance detection rely on convolutional neural networks. However, these networks do not consider the…

3D articulated objects are inherently challenging for manipulation due to the varied geometries and intricate functionalities associated with articulated objects.Point-level affordance, which predicts the per-point actionable score and thus…

Robotic agents need to understand how to interact with objects in their environment, both autonomously and during human-robot interactions. Affordance detection on 3D point clouds, which identifies object regions that allow specific…

Affordance learning is a complex challenge in many applications, where existing approaches primarily focus on the geometric structures, visual knowledge, and affordance labels of objects to determine interactable regions. However, extending…

3D Affordance detection is a challenging problem with broad applications on various robotic tasks. Existing methods typically formulate the detection paradigm as a label-based semantic segmentation task. This paradigm relies on predefined…

Affordance understanding, the task of identifying actionable regions on 3D objects, plays a vital role in allowing robotic systems to engage with and operate within the physical world. Although Visual Language Models (VLMs) have excelled in…

The remarkable breakthroughs in point cloud representation learning have boosted their usage in real-world applications such as self-driving cars and virtual reality. However, these applications usually have an urgent requirement for not…

Real-world scenarios pose several challenges to deep learning based computer vision techniques despite their tremendous success in research. Deeper models provide better performance, but are challenging to deploy and knowledge distillation…

Current point-cloud detection methods have difficulty detecting the open-vocabulary objects in the real world, due to their limited generalization capability. Moreover, it is extremely laborious and expensive to collect and fully annotate a…

A common dilemma in 3D object detection for autonomous driving is that high-quality, dense point clouds are only available during training, but not testing. We use knowledge distillation to bridge the gap between a model trained on…

Point cloud processing has gained significant attention due to its critical role in applications such as autonomous driving and 3D object recognition. However, deploying high-performance models like Point Transformer V3 in…

In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object-…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

This paper presents a novel approach for affordance-informed robotic manipulation by introducing 3D keypoints to enhance the understanding of object parts' functionality. The proposed approach provides direct information about what the…

Open-vocabulary object detection (OVD) aims to detect objects beyond the training annotations, where detectors are usually aligned to a pre-trained vision-language model, eg, CLIP, to inherit its generalizable recognition ability so that…