相关论文: SeqAfford: Sequential 3D Affordance Reasoning via …

Affordance grounding aims to locate objects' "action possibilities" regions, which is an essential step toward embodied intelligence. Due to the diversity of interactive affordance, the uniqueness of different individuals leads to diverse…

This paper develops and evaluates a novel method that allows for the detection of affordances in a scalable and multiple-instance manner on visually recovered pointclouds. Our approach has many advantages over alternative methods, as it is…

Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for…

3D editing is a fundamental capability for scalable 3D content creation. While image editing has rapidly evolved toward large-scale feedforward generative paradigms, 3D AI generation remains dominated by training-free editing pipelines. A…

Reasoning segmentation increasingly employs reinforcement learning to generate explanatory reasoning chains that guide Multimodal Large Language Models. While these geometric rewards are primarily confined to guiding the final localization,…

We introduce seqBench, a parametrized benchmark for probing sequential reasoning limits in Large Language Models (LLMs) through precise, multi-dimensional control over several key complexity dimensions. seqBench allows systematic variation…

Transformers have shown dominant performance across a range of domains including language and vision. However, their computational cost grows quadratically with the sequence length, making their usage prohibitive for resource-constrained…

This work enhances the ability of large language models (LLMs) to perform complex reasoning in 3D scenes. Recent work has addressed the 3D situated reasoning task by invoking tool usage through large language models. Large language models…

Robots are increasingly expected to manipulate objects in ever more unstructured environments where the object properties have high perceptual uncertainty from any single sensory modality. This directly impacts successful object…

We address the problem of affordance reasoning in diverse scenes that appear in the real world. Affordances relate the agent's actions to their effects when taken on the surrounding objects. In our work, we take the egocentric view of the…

Grounding 3D object affordance seeks to locate objects' ''action possibilities'' regions in the 3D space, which serves as a link between perception and operation for embodied agents. Existing studies primarily focus on connecting visual…

Spatial reasoning is a fundamental capability for embodied intelligence, especially for fine-grained manipulation tasks such as robotic assembly. While recent vision-language models (VLMs) exhibit preliminary spatial awareness, they largely…

Understanding object affordances is essential for enabling robots to perform purposeful and fine-grained interactions in diverse and unstructured environments. However, existing approaches either rely on retrieval, which is fragile due to…

Although perception systems have made remarkable advancements in recent years, they still rely on explicit human instruction or pre-defined categories to identify the target objects before executing visual recognition tasks. Such systems…

Open-Vocabulary 3D object affordance grounding aims to anticipate ``action possibilities'' regions on 3D objects with arbitrary instructions, which is crucial for robots to generically perceive real scenarios and respond to operational…

Planning with a learned model is arguably a key component of intelligence. There are several challenges in realizing such a component in large-scale reinforcement learning (RL) problems. One such challenge is dealing effectively with…

Previous studies on robotic manipulation are based on a limited understanding of the underlying 3D motion constraints and affordances. To address these challenges, we propose a comprehensive paradigm, termed UniAff, that integrates 3D…

Vision-based robot learning often relies on dense image or point-cloud inputs, which are computationally heavy and entangle irrelevant background features. Existing keypoint-based approaches can focus on manipulation-centric features and be…

An autonomous robot should be able to evaluate the affordances that are offered by a given situation. Here we address this problem by designing a system that can densely predict affordances given only a single 2D RGB image. This is achieved…

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…