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SAGE: Bridging Semantic and Actionable Parts for GEneralizable Manipulation of Articulated Objects
April 2, 2024, 7:50 p.m. | Haoran Geng, Songlin Wei, Congyue Deng, Bokui Shen, He Wang, Leonidas Guibas
cs.CV updates on arXiv.org arxiv.org
Abstract: To interact with daily-life articulated objects of diverse structures and functionalities, understanding the object parts plays a central role in both user instruction comprehension and task execution. However, the possible discordance between the semantic meaning and physics functionalities of the parts poses a challenge for designing a general system. To address this problem, we propose SAGE, a novel framework that bridges semantic and actionable parts of articulated objects to achieve generalizable manipulation under natural language …
abstract arxiv cs.cv cs.ro daily diverse however life manipulation meaning object objects physics role semantic type understanding
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