CLIPUNetr: Assisting Human-robot Interface for Uncalibrated Visual Servoing Control with CLIP-driven Referring Expression Segmentation
Chen Jiang,Yuchen Yang,Martin Jagersand,Chen Jiang,Yuchen Yang,Martin Jagersand
The classical human-robot interface in uncalibrated image-based visual servoing (UIBVS) relies on either human annotations or semantic segmentation with categorical labels. Both methods fail to match natural human communication and convey rich semantics in manipulation tasks as effectively as natural language expressions. In this paper, we tackle this problem by using referring expression segmenta...
