相关论文: RoboEye: Enhancing 2D Robotic Object Identificatio…
Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration.However, the introduction of unknown joint angles makes prediction more complex than…
We introduce RoboEval, a structured evaluation framework and benchmark for robotic manipulation that augments binary success with principled behavioral and outcome metrics. Existing evaluations often collapse performance into outcome…
Visual augmentation has become a crucial technique for enhancing the visual robustness of imitation learning. However, existing methods are often limited by prerequisites such as camera calibration or the need for controlled environments…
Humans effortlessly retrieve objects in cluttered, partially observable environments by combining visual reasoning, active viewpoint adjustment, and physical interaction-with only a single pair of eyes. In contrast, most existing robotic…
Despite the impressive progress brought by deep network in visual object recognition, robot vision is still far from being a solved problem. The most successful convolutional architectures are developed starting from ImageNet, a large scale…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…
Spatial understanding is a crucial capability that enables robots to perceive their surroundings, reason about their environment, and interact with it meaningfully. In modern robotics, these capabilities are increasingly provided by…
Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…
Existing multimodal search agents process target entities sequentially, issuing one tool call per entity and accumulating redundant interaction rounds whenever a query decomposes into independent sub-retrievals. We argue that effective…
We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…
Developing robot perception systems for recognizing objects in the real-world requires computer vision algorithms to be carefully scrutinized with respect to the expected operating domain. This demands large quantities of ground truth data…
We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…
Object detection in 3D with stereo cameras is an important problem in computer vision, and is particularly crucial in low-cost autonomous mobile robots without LiDARs. Nowadays, most of the best-performing frameworks for stereo 3D object…
The scalability of robotic manipulation is fundamentally bottlenecked by the scarcity of task-aligned physical interaction data. While vision-language models (VLMs) and video generation models (VGMs) hold promise for autonomous data…
A well-designed reward is critical for effective reinforcement learning-based policy improvement. In real-world robotics, obtaining such rewards typically requires either labor-intensive human labeling or brittle, handcrafted objectives.…
4D automotive radar is indispensable for autonomous driving due to its low cost and robustness, yet its point cloud sparsity challenges 3D object detection. Existing 4D radar-camera fusion methods focus on complex fusion strategies, trading…
Object detection models shipped with camera-equipped edge devices cannot cover the objects of interest for every user. Therefore, the incremental learning capability is a critical feature for a robust and personalized object detection…
Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6-DoF pose estimation represents an important step toward…
Long-term agent memory is increasingly multimodal, yet existing evaluations rarely test whether agents preserve the visual evidence needed for later reasoning. In prior work, many visually grounded questions can be answered using only…
Recent advancements in bird's eye view (BEV) representations have shown remarkable promise for in-vehicle 3D perception. However, while these methods have achieved impressive results on standard benchmarks, their robustness in varied…