相关论文: Spot-Compose: A Framework for Open-Vocabulary Obje…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

Effectively manipulating articulated objects in household scenarios is a crucial step toward achieving general embodied artificial intelligence. Mainstream research in 3D vision has primarily focused on manipulation through depth perception…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well…

To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required, the sizes of which directly affect the rate of successful grasps. To…

In recent years, vision-language models (VLMs) have advanced open-vocabulary mapping, enabling mobile robots to simultaneously achieve environmental reconstruction and high-level semantic understanding. While integrated object cognition…

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a…

Existing open-vocabulary object detection (OVD) develops methods for testing unseen categories by aligning object region embeddings with corresponding VLM features. A recent study leverages the idea that VLMs implicitly learn compositional…

There is a large variety of objects and appliances in human environments, such as stoves, coffee dispensers, juice extractors, and so on. It is challenging for a roboticist to program a robot for each of these object types and for each of…

Object compositing based on 2D images is a challenging problem since it typically involves multiple processing stages such as color harmonization, geometry correction and shadow generation to generate realistic results. Furthermore,…

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…

We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point clouds. Given a language instruction and a point cloud of the…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

Deformable object manipulation presents a unique set of challenges in robotic manipulation by exhibiting high degrees of freedom and severe self-occlusion. State representation for materials that exhibit plastic behavior, like modeling clay…

Open vocabulary object detection has been greatly advanced by the recent development of vision-language pretrained model, which helps recognize novel objects with only semantic categories. The prior works mainly focus on knowledge…

Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Open-vocabulary 3D object detection aims to localize and recognize objects beyond a fixed training taxonomy. In multi-view RGB settings, recent approaches often decouple geometry-based instance construction from semantic labeling,…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…