相关论文: High-resolution open-vocabulary object 6D pose est…

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…

Open-vocabulary 3D object detection (OV-3DOD) aims at localizing and classifying novel objects beyond closed sets. The recent success of vision-language models (VLMs) has demonstrated their remarkable capabilities to understand open…

Language-specified mobile manipulation tasks in novel environments simultaneously face challenges interacting with a scene which is only partially observed, grounding semantic information from language instructions to the partially observed…

There is a gap in the understanding of occluded objects in existing large-scale visual language multi-modal models. Current state-of-the-art multi-modal models fail to provide satisfactory results in describing occluded objects through…

Recently, vision-language pre-training shows great potential in open-vocabulary object detection, where detectors trained on base classes are devised for detecting new classes. The class text embedding is firstly generated by feeding…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

6D object pose estimation is a crucial prerequisite for autonomous robot manipulation applications. The state-of-the-art models for pose estimation are convolutional neural network (CNN)-based. Lately, Transformers, an architecture…

Existing automatic approaches for 3D virtual character motion synthesis supporting scene interactions do not generalise well to new objects outside training distributions, even when trained on extensive motion capture datasets with diverse…

This paper introduces HapticVLM, a novel multimodal system that integrates vision-language reasoning with deep convolutional networks to enable real-time haptic feedback. HapticVLM leverages a ConvNeXt-based material recognition module to…

3D Visual Grounding (3DVG) aims at localizing 3D object based on textual descriptions. Conventional supervised methods for 3DVG often necessitate extensive annotations and a predefined vocabulary, which can be restrictive. To address this…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

Existing open-vocabulary object detectors typically enlarge their vocabulary sizes by leveraging different forms of weak supervision. This helps generalize to novel objects at inference. Two popular forms of weak-supervision used in…

Recent advancements in 3D Large Language Models (LLMs) have demonstrated promising capabilities for 3D scene understanding. However, previous methods exhibit deficiencies in general referencing and grounding capabilities for intricate scene…

6D pose estimation is a central problem in robot vision. Compared with pose estimation based on point correspondences or its robust versions, correspondence-free methods are often more flexible. However, existing correspondence-free methods…

Traditional object detection models are typically trained on a fixed set of classes, limiting their flexibility and making it costly to incorporate new categories. Open-vocabulary object detection addresses this limitation by enabling…

Recent open-vocabulary detection methods aim to detect novel objects by distilling knowledge from vision-language models (VLMs) trained on a vast amount of image-text pairs. To improve the effectiveness of these methods, researchers have…

Object search is a fundamental task for robots deployed in indoor building environments, yet challenges arise due to observation instability, especially for open-vocabulary models. While foundation models (LLMs/VLMs) enable reasoning about…

Zero-shot Human-object interaction (HOI) detection aims to locate humans and objects in images and recognize their interactions. While advances in open-vocabulary object detection provide promising solutions for object localization,…

Estimating the 6D object pose from a single RGB image often involves noise and indeterminacy due to challenges such as occlusions and cluttered backgrounds. Meanwhile, diffusion models have shown appealing performance in generating…