Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds

arXiv:2404.12440v1 Announce Type: cross
Abstract: In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This allows for accurate detection directly in 3D scenes, object- and environment-aware grasp prediction, as well as robust and repeatable robotic manipulation. This work aims to integrate these recent methods into a comprehensive framework for robotic interaction and manipulation in human-centric environments. Specifically, we leverage 3D reconstructions from a commodity …

arxiv cs.cv cs.ro framework manipulation object retrieval spot type