Beyond the Current Scene: Event-Referential Grasping with Active View Selection
A robot that observes people interacting with objects should be able to carry out later requests that refer back to those interactions. Such requests may specify a grasp target by the role it played in a past event rather than by its name or appearance. Moreover, the target may no longer be visible when the robot is asked to act. We present BeyondSCe, a zero-shot robotic grasping system for this event-referential setting. Given the event history and the current scene, the system identifies the requested object or part and localizes it for grasping. If the target is occluded, it combines an event prior recovered from the history with current scene geometry to select camera viewpoints likel...
| Authors | Hyunjoon Lee, Haebeom Jung, Eunsung Cha et al. |
|---|---|
| Primary category | cs.RO |
| Published | 30 September 2026 |
| Last updated at source | 30 September 2026 |
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