Towards Cross-device and Training-free Robotic Grasping in 3D Open World

Robotic grasping in the open world is a critical component of manufacturing and automation processes. While numerous existing approaches depend on 2D segmentation output to facilitate the grasping procedure, accurately determining depth from 2D imagery remains a challenge, often leading to limited performance in complex stacking scenarios. In contrast, techniques utilizing 3D point cloud data inherently capture depth information, thus enabling adeptly navigating and manipulating a diverse range of complex stacking scenes. However, such efforts are considerably hindered by the variance in data capture devices and the unstructured nature of the data, which limits their generalizability. Consequently, much research is narrowly concentrated on managing designated objects within specific settings, which confines their real-world applicability. This paper presents a novel pipeline capable of executing object grasping tasks in open-world scenarios even on previously unseen objects without the necessity for training. Additionally, our pipeline supports the flexible use of different 3D point cloud segmentation models across a variety of scenes. Leveraging the segmentation results, we propose to engage a training-free binary clustering algorithm that not only improves segmentation precision but also possesses the capability to cluster and localize unseen objects for executing grasping operations. In our experiments, we investigate a range of open-world scenarios, and the outcomes underscore the remarkable robustness and generalizability of our pipeline, consistent across various environments, robots, cameras, and objects. The code will be made available upon acceptance of the paper.

Diff-OP3D: Bridging 2D Diffusion for Open Pose 3D Zero-Shot Classification

With the explosive 3D data growth, the urgency of utilizing zero-shot learning to facilitate data labeling becomes evident. Recently, the methods via transferring Contrastive Language-Image Pre-training (CLIP) to 3D vision have made great progress in the 3D zero-shot classification task. However, these methods primarily focus on aligned pose 3D objects (ap-3os), overlooking the recognition of 3D objects with open poses (op-3os) typically encountered in real-world scenarios, such as an overturned chair or a lying teddy bear. To this end, we propose a more challenging benchmark for 3D open-pose zero-shot classification. Echoing our benchmark, we design a concise angle-refinement mechanism that automatically optimizes one ideal pose as well as classifies these op-3os. Furthermore, we make a first attempt to bridge 2D pre-trained diffusion model as a classifer to 3D zero-shot classification without any additional training. Such 2D diffusion to 3D objects proves vital in improving zero-shot classification for both ap-3os and op-3os. Our model notably improves by 3.5% and 15.8% on ModelNet10$^{\ddag}$ and McGill$^{\ddag}$ open pose benchmarks, respectively, and surpasses the current state-of-the-art by 6.8% on the aligned pose ModelNet10, affirming diffusion's efficacy in 3D zero-shot tasks.

Towards Simple and Accurate Human Pose Estimation with Stair Network

In this paper, we focus on tackling the precise keypoint coordinates regression task. Most existing approaches adopt complicated networks with a large number of parameters, leading to a heavy model with poor cost-effectiveness in practice. To overcome this limitation, we develop a small yet discrimicative model called STair Network, which can be simply stacked towards an accurate multi-stage pose estimation system. Specifically, to reduce computational cost, STair Network is composed of novel basic feature extraction blocks which focus on promoting feature diversity and obtaining rich local representations with fewer parameters, enabling a satisfactory balance on efficiency and performance. To further improve the performance, we introduce two mechanisms with negligible computational cost, focusing on feature fusion and replenish. We demonstrate the effectiveness of the STair Network on two standard datasets, e.g., 1-stage STair Network achieves a higher accuracy than HRNet by 5.5% on COCO test dataset with 80\% fewer parameters and 68% fewer GFLOPs.