5 papers · 1 filter
Obstruction reasoning for robotic grasping
Runyu Jiao, Matteo Bortolon, Francesco Giuliari +5
Successful robotic grasping in cluttered environments not only requires a model to visually ground a target object but also to reason about obstructions that must be cleared before…
Action-guided generation of 3D functionality segmentation data
Jaime Corsetti, Francesco Giuliari, Davide Boscaini +6
3D functionality segmentation aims to identify the interactive element in a 3D scene required to perform an action described in free-form language (e.g., the handle to ``Open the s…
Multimodal Fusion SLAM with Fourier Attention
Youjie Zhou, Guofeng Mei, Yiming Wang +2
Visual SLAM is particularly challenging in environments affected by noise, varying lighting conditions, and darkness. Learning-based optical flow algorithms can leverage multiple m…
Parameter-Efficient CLIP Adaptation for 3D Understanding via Unified Tokenization
Guofeng Mei, Qinfeng Xiao, Bin Ren +7
Vision-language models, such as CLIP, encode rich semantic knowledge through large-scale image-text pretraining. Reusing these models for 3D understanding is highly desirable, beca…
Free-form language-based robotic reasoning and grasping
Runyu Jiao, Alice Fasoli, Francesco Giuliari +5
Performing robotic grasping from a cluttered bin based on human instructions is a challenging task, as it requires understanding both the nuances of free-form language and the spat…