A robot using a single wrist-mounted RGB-D camera can retrieve objects in cluttered scenes by combining a dynamic scene graph, VLM-driven viewpoint selection, interactive exploration, and grasping, with reported success rates of 70-90%.
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RoboRetriever: Single-Camera Robot Object Retrieval via Active and Interactive Perception with Dynamic Scene Graph
A robot using a single wrist-mounted RGB-D camera can retrieve objects in cluttered scenes by combining a dynamic scene graph, VLM-driven viewpoint selection, interactive exploration, and grasping, with reported success rates of 70-90%.