相关论文: Object Segmentation from Open-Vocabulary Manipulat…

In this paper, we consider the problem of open-vocabulary semantic segmentation (OVS), which aims to segment objects of arbitrary classes instead of pre-defined, closed-set categories. The main contributions are as follows: First, we…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

In this study, we aim to develop a model that comprehends a natural language instruction (e.g., "Go to the living room and get the nearest pillow to the radio art on the wall") and generates a segmentation mask for the target everyday…

Segmenting objects in videos is a fundamental computer vision task. The current deep learning based paradigm offers a powerful, but data-hungry solution. However, current datasets are limited by the cost and human effort of annotating…

Existing methodologies in open vocabulary 3D semantic segmentation primarily concentrate on establishing a unified feature space encompassing 3D, 2D, and textual modalities. Nevertheless, traditional techniques such as global feature…

Open-set image segmentation poses a significant challenge because existing methods often demand extensive training or fine-tuning and generally struggle to segment unified objects consistently across diverse text reference expressions.…

We present LlamaSeg, a visual autoregressive framework that unifies multiple image segmentation tasks via natural language instructions. We reformulate image segmentation as a visual generation problem, representing masks as "visual" tokens…

The ability to segment unknown objects in cluttered scenes has a profound impact on robot grasping. The rise of deep learning has greatly transformed the pipeline of robotic grasping from model-based approach to data-driven stream, which…

Open-vocabulary semantic segmentation (OVSS) aims to segment arbitrary category regions in images using open-vocabulary prompts, necessitating that existing methods possess pixel-level vision-language alignment capability. Typically, this…

In this paper, we investigate Open-Vocabulary 3D Instance Segmentation (OV-3DIS) with free-form language instructions. Earlier works that rely on only annotated base categories for training suffer from limited generalization to unseen novel…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

This paper presents a weakly-supervised approach to object instance segmentation. Starting with known or predicted object bounding boxes, we learn object masks by playing a game of cut-and-paste in an adversarial learning setup. A mask…

The goal of this paper is to extract the visual-language correspondence from a pre-trained text-to-image diffusion model, in the form of segmentation map, i.e., simultaneously generating images and segmentation masks for the corresponding…

This paper presents a novel approach to object completion, with the primary goal of reconstructing a complete object from its partially visible components. Our method, named MaskComp, delineates the completion process through iterative…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

Recent advancements in 3D perception systems have significantly improved their ability to perform visual recognition tasks such as segmentation. However, these systems still heavily rely on explicit human instruction to identify target…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

We introduce a novel robotic system for improving unseen object instance segmentation in the real world by leveraging long-term robot interaction with objects. Previous approaches either grasp or push an object and then obtain the…

Instance segmentation with unseen objects is a challenging problem in unstructured environments. To solve this problem, we propose a robot learning approach to actively interact with novel objects and collect each object's training label…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…