{"paper":{"title":"A Universal Semantic-Geometric Representation for Robotic Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Hanchen Cui, Hang Zhao, Tong Zhang, Yang Gao, Yingdong Hu","submitted_at":"2023-06-18T04:34:17Z","abstract_excerpt":"Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth cameras offer critical 3D geometry data but capture limited semantics. Therefore, integrating both modalities is crucial for learning representations for robotic perception and control. However, current research predominantly focuses on only one of these modalities, neglecting the benefits of incorporating both. To this end, we present $\\textbf{Semantic-Geometric"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2306.10474","kind":"arxiv","version":2},"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/2306.10474/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"}