ロボットマニピュレーションのための汎用ワンショットマルチモーダル能動知覚フレームワーク：最適視点予測の学習
A General One-Shot Multimodal Active Perception Framework for Robotic Manipulation: Learning to Predict Optimal Viewpoint
カメラを最適な視点に一度で移動させることで、ロボットマニピュレーションの知覚品質を高める汎用フレームワークを提案。視点評価を分離し、マルチモーダルネットワークで直接カメラ姿勢を予測、把持成功率を大幅に向上させた。
詳しい要約
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著者: Deyun Qin, Zezhi Liu, Hanqian Luo, Xiao Liang, Yongchun Fang
分類: cs.RO
原文アブストラクト
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods rely on iterative optimization, leading to high time and motion costs, and are tightly coupled with task-specific objectives, which limits their transferability. In this paper, we propose a general one-shot multimodal active perception framework for robotic manipulation. The framework enables direct inference of optimal viewpoints and comprises a data collection pipeline and an optimal viewpoint prediction network. Specifically, the framework decouples viewpoint quality evaluation from the overall architecture, supporting heterogeneous task requirements. Optimal viewpoints are defined through systematic sampling and evaluation of candidate viewpoints, after which large-scale training datasets are constructed via domain randomization. Moreover, a multimodal optimal viewpoint prediction network is developed, leveraging cross-attention to align and fuse multimodal features and directly predict camera pose adjustments. The proposed framework is instantiated in robotic grasping under viewpoint-constrained environments. Experimental results demonstrate that active perception guided by the framework significantly improves grasp success rates. Notably, real-world evaluations achieve nearly double the grasp success rate and enable seamless sim-to-real transfer without additional fine-tuning, demonstrating the effectiveness of the proposed framework.
