5 papers
SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Grasping
Mingxu Zhang, Xiaoqi Li, Jiahui Xu +5
Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitation…
BiAssemble: Learning Collaborative Affordance for Bimanual Geometric Assembly
Yan Shen, Ruihai Wu, Yubin Ke +6
Shape assembly, the process of combining parts into a complete whole, is a crucial robotic skill with broad real-world applications. Among various assembly tasks, geometric assembl…
CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation
Xiaoqi Li, Lingyun Xu, Mingxu Zhang +8
In robotic, task goals can be conveyed through various modalities, such as language, goal images, and goal videos. However, natural language can be ambiguous, while images or video…
3DWG: 3D Weakly Supervised Visual Grounding via Category and Instance-Level Alignment
Xiaoqi Li, Jiaming Liu, Nuowei Han +4
The 3D weakly-supervised visual grounding task aims to localize oriented 3D boxes in point clouds based on natural language descriptions without requiring annotations to guide mode…
ManipGPT: Is Affordance Segmentation by Large Vision Models Enough for Articulated Object Manipulation?
Taewhan Kim, Hojin Bae, Zeming Li +4
Visual actionable affordance has emerged as a transformative approach in robotics, focusing on perceiving interaction areas prior to manipulation. Traditional methods rely on pixel…