{"paper":{"title":"RoboRetriever: Single-Camera Robot Object Retrieval via Active and Interactive Perception with Dynamic Scene Graph","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hecheng Wang, Jiankun Ren, Jia Yu, Lizhe Qi, Yunquan Sun","submitted_at":"2025-08-18T13:31:23Z","abstract_excerpt":"Humans effortlessly retrieve objects in cluttered, partially observable environments by combining visual reasoning, active viewpoint adjustment, and physical interaction-with only a single pair of eyes. In contrast, most existing robotic systems rely on carefully positioned fixed or multi-camera setups with complete scene visibility, which limits adaptability and incurs high hardware costs. We present \\textbf{RoboRetriever}, a novel framework for real-world object retrieval that operates using only a \\textbf{single} wrist-mounted RGB-D camera and free-form natural language instructions. RoboRe"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.12916","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2508.12916/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}