相关论文: HiFi-CS: Towards Open Vocabulary Visual Grounding …
Visual-language grounding aims to establish semantic correspondences between natural language and visual entities, enabling models to accurately identify and localize target objects based on textual instructions. Existing VLG approaches…
The ability to grasp objects in-the-wild from open-ended language instructions constitutes a fundamental challenge in robotics. An open-world grasping system should be able to combine high-level contextual with low-level physical-geometric…
Robots are finding wider adoption in human environments, increasing the need for natural human-robot interaction. However, understanding a natural language command requires the robot to infer the intended task and how to decompose it into…
Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and…
3D visual grounding is a critical skill for household robots, enabling them to navigate, manipulate objects, and answer questions based on their environment. While existing approaches often rely on extensive labeled data or exhibit…
The language-guided robot grasping task requires a robot agent to integrate multimodal information from both visual and linguistic inputs to predict actions for target-driven grasping. While recent approaches utilizing Multimodal Large…
Vision Language Models (VLMs) perform well on standard video tasks but struggle with physics-related reasoning involving motion dynamics and spatial interactions. We present a novel approach to address this gap by translating physical-world…
The human language is one of the most natural interfaces for humans to interact with robots. This paper presents a robot system that retrieves everyday objects with unconstrained natural language descriptions. A core issue for the system is…
Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on…
Grasping is one of the most fundamental challenging capabilities in robotic manipulation, especially in unstructured, cluttered, and semantically diverse environments. Recent researches have increasingly explored language-guided…
Remote sensing (RS) visual grounding aims to use natural language expression to locate specific objects (in the form of the bounding box or segmentation mask) in RS images, enhancing human interaction with intelligent RS interpretation…
Leveraging auditory and visual feedback for attention reorientation is essential for natural gaze shifts in social interaction. However, enabling humanoid robots to perform natural and context-appropriate gaze shifts in unconstrained…
Robots operating in human-centric environments require the integration of visual grounding and grasping capabilities to effectively manipulate objects based on user instructions. This work focuses on the task of referring grasp synthesis,…
We focus on the task of language-conditioned grasping in clutter, in which a robot is supposed to grasp the target object based on a language instruction. Previous works separately conduct visual grounding to localize the target object, and…
Open-vocabulary 3D visual grounding and reasoning aim to localize objects in a scene based on implicit language descriptions, even when they are occluded. This ability is crucial for tasks such as vision-language navigation and autonomous…
We propose VISO-Grasp, a novel vision-language-informed system designed to systematically address visibility constraints for grasping in severely occluded environments. By leveraging Foundation Models (FMs) for spatial reasoning and active…
Recent advances in vision-language models (VLMs) have led to improved performance on tasks such as visual question answering and image captioning. Consequently, these models are now well-positioned to reason about the physical world,…
Visual Grounding, also known as Referring Expression Comprehension and Phrase Grounding, aims to ground the specific region(s) within the image(s) based on the given expression text. This task simulates the common referential relationships…
Robotic grasping is one of the most fundamental tasks in robotic manipulation, and grasp detection/generation has long been the subject of extensive research. Recently, language-driven grasp generation has emerged as a promising direction…
Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…