Beyond Point-Attached Semantics: Object-Centric Semantic Fields for Generalizable Manipulation

arXiv:2607.03163v1 Announce Type: new Abstract: Generalizable robot manipulation requires stable 3D understanding of functional object parts, such as handles, tool heads, openings, and graspable regions. Raw point clouds provide geometry but lack explicit part semantics, and their sampled points vary with viewpoint, sensor configuration, and object instance. Existing 2D feature lifting and discrete 3D point-wise features enrich point clouds with semantics, but the resulting features remain attac...