相关论文: "Set It Up": Functional Object Arrangement with Co…

This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused…

Geometric organization of objects into semantically meaningful arrangements pervades the built world. As such, assistive robots operating in warehouses, offices, and homes would greatly benefit from the ability to recognize and rearrange…

Placing is a necessary skill for a personal robot to have in order to perform tasks such as arranging objects in a disorganized room. The object placements should not only be stable but also be in their semantically preferred placing areas…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…

Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…

Controlling robots to perform tasks via natural language is one of the most challenging topics in human-robot interaction. In this work, we present a robot system that follows unconstrained language instructions to pick and place arbitrary…

Imagine a child sketching the Eiffel Tower and asking a robot to bring it to life. Today's robot manipulation systems can't act on such sketches directly-they require precise 3D block poses as goals, which in turn demand structural analysis…

Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…

Acquisition and creation of 3D assets have been largely view- or appearance-driven. As a result, existing digital 3D models often lack the requisite structural components to function as intended, such as joints, supports, interiors, or…

Robotics research has made significant strides in learning, yet mastering basic skills like object placement remains a fundamental challenge. A key bottleneck is the acquisition of large-scale, high-quality data, which is often a manual and…

We present the first approach to build hierarchical task-driven 3D scene graphs of arbitrary indoor or outdoor environments using an uncalibrated monocular camera in real-time. We leverage geometric foundation models to estimate geometric…

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…

We propose FindIt, a simple and versatile framework that unifies a variety of visual grounding and localization tasks including referring expression comprehension, text-based localization, and object detection. Key to our architecture is an…

As robots begin to cohabit with humans in semi-structured environments, the need arises to understand instructions involving rich variability---for instance, learning to ground symbols in the physical world. Realistically, this task must…

This paper studies the problem of fixing malfunctional 3D objects. While previous works focus on building passive perception models to learn the functionality from static 3D objects, we argue that functionality is reckoned with respect to…

We present GraPLUS (Graph-based Placement Using Semantics), a novel framework for plausible object placement in images that leverages scene graphs and large language models. Our approach uniquely combines graph-structured scene…

For robots to exhibit a high level of intelligence in the real world, they must be able to assess objects for which they have no prior knowledge. Therefore, it is crucial for robots to perceive object affordances by reasoning about physical…

Tidying up a messy table may appear simple for humans, but articulating clear criteria for tidiness is challenging due to the ambiguous nature of common sense reasoning. Large Language Models (LLMs) have proven capable of capturing common…

In this paper, we propose Lan-grasp, a novel approach towards more appropriate semantic grasping and placing. We leverage foundation models to equip the robot with a semantic understanding of object geometry, enabling it to identify the…

Stowing, the task of placing objects in cluttered shelves or bins, is a common task in warehouse and manufacturing operations. However, this task is still predominantly carried out by human workers as stowing is challenging to automate due…