相关论文: CompassAD: Intent-Driven 3D Affordance Grounding i…

Given the diversity of devices and the product upgrades, cross-device research has become an urgent issue that needs to be tackled. To this end, we pioneer in probing the cross-device (cameras & robotics) grasping policy in the 3D open…

Embodied agents operating in open environments must translate high-level instructions into grounded, executable behaviors, often requiring coordinated use of both hands. While recent foundation models offer strong semantic reasoning,…

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…

Humans show an innate capability to identify tools to support specific actions. The association between objects parts and the actions they facilitate is usually named affordance. Being able to segment objects parts depending on the tasks…

Learning compositional representation is a key aspect of object-centric learning as it enables flexible systematic generalization and supports complex visual reasoning. However, most of the existing approaches rely on auto-encoding…

This paper introduces a challenging object grasping task and proposes a self-supervised learning approach. The goal of the task is to grasp an object which is not feasible with a single parallel gripper, but only with harnessing environment…

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…

When humans perform a task with an articulated object, they interact with the object only in a handful of ways, while the space of all possible interactions is nearly endless. This is because humans have prior knowledge about what…

In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…

3D object detection has achieved significant performance in many fields, e.g., robotics system, autonomous driving, and augmented reality. However, most existing methods could cause catastrophic forgetting of old classes when performing on…

In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…

General object composition (GOC) aims to seamlessly integrate a target object into a background scene with desired geometric properties, while simultaneously preserving its fine-grained appearance details. Recent approaches derive semantic…

Many robotic tasks in real-world environments require physical interactions with an object such as pick up or push. For successful interactions, the robot needs to know the object's affordances, which are defined as the potential actions…

Image compositing is one of the most fundamental steps in creative workflows. It involves taking objects/parts of several images to create a new image, called a composite. Currently, this process is done manually by creating accurate masks…

Camouflaged Object Detection (COD) aims to identify objects that blend seamlessly into their surroundings. The inherent visual complexity of camouflaged objects, including their low contrast with the background, diverse textures, and subtle…

Accurate affordance detection and segmentation with pixel precision is an important piece in many complex systems based on interactions, such as robots and assitive devices. We present a new approach to affordance perception which enables…

Object functionality is often expressed through part articulation -- as when the two rigid parts of a scissor pivot against each other to perform the cutting function. Such articulations are often similar across objects within the same…

Multi-camera 3D object detection aims to detect and localize objects in 3D space using multiple cameras, which has attracted more attention due to its cost-effectiveness trade-off. However, these methods often struggle with the lack of…

Given a point cloud, we consider inferring kinematic models of 3D articulated objects such as boxes for the purpose of manipulating them. While previous work has shown how to extract a planar kinematic model (often represented as a linear…

We introduce AffordanceGrasp-R1, a reasoning-driven affordance segmentation framework for robotic grasping that combines a chain-of-thought (CoT) cold-start strategy with reinforcement learning to enhance deduction and spatial grounding. In…