62 citations · 62 across the 10 of their papers we have counts for
13 papers
DemoBridge: A Simulation-in-the-Loop Toolkit for Single-View Human Demonstration Retargeting
Zehao Wang, Fabien Despinoy, Sergey Zakharov +2
We present DemoBridge, an toolkit that turns a single-view RGB stereo recording of a human hand demonstration into an executable, physics-validated robot-arm trajectory. Retargetin…
From Demonstrations to Rewards: Test-Time Prompt Optimization for VLM Reward Models
Christian Gumbsch, Leonardo Barcellona, Lennard Schünemann +7
Reinforcement learning relies on accurate reward functions, which are often hand-crafted or even unavailable in real-world applications, such as robotics. Recent work has explored…
Reconstruction by Generation: 3D Multi-Object Scene Reconstruction from Sparse Observations
Andrii Zadaianchuk, Leonardo Barcellona, Lennard Schuenemann +7
Accurately reconstructing complex full multi-object scenes from sparse observations remains a core challenge in computer vision and a key step toward scalable and reliable simulati…
Object Pose Transformer: Unifying Unseen Object Pose Estimation
Weihang Li, Lorenzo Garattoni, Fabien Despinoy +2
Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-…
Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search
Imen Mahdi, Matteo Cassinelli, Fabien Despinoy +2
Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration effi…
Advances and Innovations in the Multi-Agent Robotic System (MARS) Challenge
Li Kang, Heng Zhou, Xiufeng Song +41
Recent advancements in multimodal large language models and vision-languageaction models have significantly driven progress in Embodied AI. As the field transitions toward more com…
LangHOPS: Language Grounded Hierarchical Open-Vocabulary Part Segmentation
Yang Miao, Jan-Nico Zaech, Xi Wang +3
We propose LangHOPS, the first Multimodal Large Language Model (MLLM) based framework for open-vocabulary object-part instance segmentation. Given an image, LangHOPS can jointly de…
MORE: Mobile Manipulation Rearrangement Through Grounded Language Reasoning
Mohammad Mohammadi, Daniel Honerkamp, Martin Büchner +5
Autonomous long-horizon mobile manipulation encompasses a multitude of challenges, including scene dynamics, unexplored areas, and error recovery. Recent works have leveraged found…
Robotic Task Ambiguity Resolution via Natural Language Interaction
Eugenio Chisari, Jan Ole von Hartz, Fabien Despinoy +1
Language-conditioned policies have recently gained substantial adoption in robotics as they allow users to specify tasks using natural language, making them highly versatile. While…
Annotation Free Semantic Segmentation with Vision Foundation Models
Soroush Seifi, Daniel Olmeda Reino, Fabien Despinoy +1
Semantic Segmentation is one of the most challenging vision tasks, usually requiring large amounts of training data with expensive pixel level annotations. With the success of foun…
Language-Grounded Dynamic Scene Graphs for Interactive Object Search with Mobile Manipulation
Daniel Honerkamp, Martin Büchner, Fabien Despinoy +2
To fully leverage the capabilities of mobile manipulation robots, it is imperative that they are able to autonomously execute long-horizon tasks in large unexplored environments. W…
FIFA: Fast Inference Approximation for Action Segmentation
Yaser Souri, Yazan Abu Farha, Fabien Despinoy +2
We introduce FIFA, a fast approximate inference method for action segmentation and alignment. Unlike previous approaches, FIFA does not rely on expensive dynamic programming for in…
MIcro-Surgical Anastomose Workflow recognition challenge report
Arnaud Huaulmé, Duygu Sarikaya, Kévin Le Mut +12
The "MIcro-Surgical Anastomose Workflow recognition on training sessions" (MISAW) challenge provided a data set of 27 sequences of micro-surgical anastomosis on artificial blood ve…