6 papers · 1 filter
WeaveLA: Event Driven Cross-Subtask Latent Memory Weaving for Repetitive Robot Manipulation
Shoujing Zhu, Zhenyang Liu, Fungmiu Wang +6
Vision-Language-Action (VLA) policies have achieved remarkable single-step manipulation, yet they remain brittle precisely where each stage depends on what was just completed. The…
V-SAM: Marrying SAM2 with Multi-Prompt Experts for Cross-View Object Correspondence
Jiancheng Pan, Runze Wang, Tianwen Qian +7
Cross-view object correspondence, exemplified by the representative task of ego-exo object correspondence, aims to establish consistent associations of the same object across diffe…
Beyond 'Templates': Category-Agnostic Object Pose, Size, and Shape Estimation from a Single View
Jinyu Zhang, Haitao Lin, Jiashu Hou +2
Estimating an object's 6D pose, size, and shape from visual input is a fundamental problem in computer vision, with critical applications in robotic grasping and manipulation. Exis…
RAG-6DPose: Retrieval-Augmented 6D Pose Estimation via Leveraging CAD as Knowledge Base
Kuanning Wang, Yuqian Fu, Tianyu Wang +4
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 tha…
You Only Estimate Once: Unified, One-stage, Real-Time Category-level Articulated Object 6D Pose Estimation for Robotic Grasping
Jingshun Huang, Haitao Lin, Tianyu Wang +3
This paper addresses the problem of category-level pose estimation for articulated objects in robotic manipulation tasks. Recent works have shown promising results in estimating pa…
AnyRefill: A Unified, Data-Efficient Framework for Left-Prompt-Guided Vision Tasks
Ming Xie, Chenjie Cao, Yunuo Cai +3
In this paper, we present a novel Left-Prompt-Guided (LPG) paradigm to address a diverse range of reference-based vision tasks. Inspired by the human creative process, we reformula…