Object-Centric Instruction Augmentation for Robotic Manipulation
Junjie Wen,Yichen Zhu,Minjie Zhu,Jinming Li,Zhiyuan Xu,Zhengping Che,Chaomin Shen,Yaxin Peng,Dong Liu,Feifei Feng,Jian Tang,Junjie Wen,Yichen Zhu,Minjie Zhu,Jinming Li,Zhiyuan Xu,Zhengping Che,Chaomin Shen,Yaxin Peng,Dong Liu,Feifei Feng,Jian Tang
Humans interpret scenes by recognizing both the identities and positions of objects in their observations. For a robot to perform tasks such as "pick and place", understanding both what the objects are and where they are located is crucial. While the former has been extensively discussed in the literature that uses the large language model to enrich the text descriptions, the latter remains undere...
