GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping

arXiv:2403.09637v1 Announce Type: cross
Abstract: Constructing a 3D scene capable of accommodating open-ended language queries, is a pivotal pursuit, particularly within the domain of robotics. Such technology facilitates robots in executing object manipulations based on human language directives. To tackle this challenge, some research efforts have been dedicated to the development of language-embedded implicit fields. However, implicit fields (e.g. NeRF) encounter limitations due to the necessity of processing a large number of input views for reconstruction, coupled with their inherent …

arxiv cs.cv cs.ro grasping language robotic type