相关论文: SCOPE: Semantic Conditioning for Sim2Real Category…

Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…

The crux of resolving fine-grained visual classification (FGVC) lies in capturing discriminative and class-specific cues that correspond to subtle visual characteristics. Recently, frequency decomposition/transform based approaches have…

As we move towards large-scale object detection, it is unrealistic to expect annotated training data, in the form of bounding box annotations around objects, for all object classes at sufficient scale, and so methods capable of unseen…

Open-vocabulary 6D object pose estimation empowers robots to manipulate arbitrary unseen objects guided solely by natural language. However, a critical limitation of existing approaches is their reliance on unconstrained global matching…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

Embeddings are an important tool for the representation of word meaning. Their effectiveness rests on the distributional hypothesis: words that occur in the same context carry similar semantic information. Here, we adapt this approach to…

Semantic boundary and edge detection aims at simultaneously detecting object edge pixels in images and assigning class labels to them. Systematic training of predictors for this task requires the labeling of edges in images which is a…

Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstruction. Despite recent advances, existing methods often produce…

Abstract semantic 3D scene understanding is a problem of critical importance in robotics. As robots still lack the common-sense knowledge about household objects and locations of an average human, we investigate the use of pre-trained…

Current perception models have achieved remarkable success by leveraging large-scale labeled datasets, but still face challenges in open-world environments with novel objects. To address this limitation, researchers introduce open-set…

Advances in deep learning recognition have led to accurate object detection with 2D images. However, these 2D perception methods are insufficient for complete 3D world information. Concurrently, advanced 3D shape estimation approaches focus…

Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object…

Category-level pose estimation is a challenging problem due to intra-class shape variations. Recent methods deform pre-computed shape priors to map the observed point cloud into the normalized object coordinate space and then retrieve the…

Sequential manipulation tasks require a robot to perceive the state of an environment and plan a sequence of actions leading to a desired goal state. In such tasks, the ability to reason about spatial relations among object entities from…

General-purpose object placement is a fundamental capability of an intelligent generalist robot: being capable of rearranging objects following precise human instructions even in novel environments. This work is dedicated to achieving…

In this paper, we learn a diffusion model to generate 3D data on a scene-scale. Specifically, our model crafts a 3D scene consisting of multiple objects, while recent diffusion research has focused on a single object. To realize our goal,…

Recognizing unknown objects is crucial for safety-critical applications such as autonomous driving and robotics. Open-Set Panoptic Segmentation (OPS) aims to segment known thing and stuff classes while identifying valid unknown objects as…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

The practicality of 3D object pose estimation remains limited for many applications due to the need for prior knowledge of a 3D model and a training period for new objects. To address this limitation, we propose an approach that takes a…