相关论文: Show and Grasp: Few-shot Semantic Segmentation for…

This work addresses the problem of learning approach-constrained data-driven grasp samplers. To this end, we propose GoNet: a generative grasp sampler that can constrain the grasp approach direction to a subset of SO(3). The key insight is…

Robotic grasping plays an important role in the field of robotics. The current state-of-the-art robotic grasping detection systems are usually built on the conventional vision, such as RGB-D camera. Compared to traditional frame-based…

Large Vision Models trained on internet-scale data have demonstrated strong capabilities in segmenting and semantically understanding object parts, even in cluttered, crowded scenes. However, while these models can direct a robot toward the…

Few-shot segmentation is a challenging dense prediction task, which entails segmenting a novel query image given only a small annotated support set. The key problem is thus to design a method that aggregates detailed information from the…

Recognizing the category of the object and using the features of the object itself to predict grasp configuration is of great significance to improve the accuracy of the grasp detection model and expand its application. Researchers have…

Operating effectively in novel real-world environments requires robotic systems to estimate and interact with previously unseen objects. Current state-of-the-art models address this challenge by using large amounts of training data and…

Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially costly in terms of data collection and annotation. In this…

Mobile robots will play a crucial role in the transition towards sustainable agriculture. To autonomously and effectively monitor the state of plants, robots ought to be equipped with visual perception capabilities that are robust to the…

One-shot semantic image segmentation aims to segment the object regions for the novel class with only one annotated image. Recent works adopt the episodic training strategy to mimic the expected situation at testing time. However, these…

Imitation learning and world models have shown significant promise in advancing generalizable robotic learning, with robotic grasping remaining a critical challenge for achieving precise manipulation. Existing methods often rely heavily on…

We introduce AffordanceGrasp-R1, a reasoning-driven affordance segmentation framework for robotic grasping that combines a chain-of-thought (CoT) cold-start strategy with reinforcement learning to enhance deduction and spatial grounding. In…

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.…

To aid humans in everyday tasks, robots need to know which objects exist in the scene, where they are, and how to grasp and manipulate them in different situations. Therefore, object recognition and grasping are two key functionalities for…

As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover…

Few-shot semantic segmentation aims to learn to segment unseen class objects with the guidance of only a few support images. Most previous methods rely on the pixel-level label of support images. In this paper, we focus on a more…

Panoptic segmentation is a key enabler for robotic perception, as it unifies semantic understanding with object-level reasoning. However, the increasing complexity of state-of-the-art models makes them unsuitable for deployment on…

Few-shot semantic segmentation models aim to segment images after learning from only a few annotated examples. A key challenge for them is how to avoid overfitting because limited training data is available. While prior works usually…

A critical bottleneck in robot learning is the scarcity of task-labeled, segmented training data, despite the abundance of large-scale robotic datasets recorded as long, continuous interaction logs. Existing datasets contain vast amounts of…

In this paper, we present a novel method for self-supervised fine-tuning of pose estimation. Leveraging zero-shot pose estimation, our approach enables the robot to automatically obtain training data without manual labeling. After pose…

Few-shot semantic segmentation aims to segment novel-class objects in a query image with only a few annotated examples in support images. Most of advanced solutions exploit a metric learning framework that performs segmentation through…