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Published at December 3

BYE: Build Your Encoder with One Sequence of Exploration Data for Long-Term Dynamic Scene Understanding

cs.RO

cs.AI

cs.CV

cs.LG

Released Date: December 3, 2024

Authors: Chenguang Huang¹, Shengchao Yan¹, Wolfram Burgard²

Aff.: ¹University of Freiburg; ²University of Technology Nuremberg

Arxiv: http://arxiv.org/pdf/2412.02449v1

Refer to caption

Method	Success Rate (%)
	Overall	Garbage Can	Bowl	Mug	Cell Phone	Credit Card	Stool	Bread	Desk	Key Chain	Alarm Clock	Laptop	Pan	Pen	Salt Shaker	Spoon
	(252)	(10)	(9)	(9)	(6)	(6)	(6)	(5)	(5)	(5)	(5)	(5)	(5)	(5)	(5)	(4)
DINOv2 [46]	50.3	70	55.6	33.3	16.7	50	83.3	20	80	60	20	60	40	40	20	75
LSeg [47]	50.0	80	55.6	44.4	16.7	0	100	40	40	40	40	100	20	0	40	25
OVSeg [14]	75.4	100	77.8	77.8	50	50	100	60	80	60	60	100	40	60	40	75
CLIP [13]	88.9	100	100	88.9	83.3	100	100	100	100	100	80	100	80	20	40	50
BYE (DGCNN)	82.9	90	66.7	77.8	100	100	100	100	100	100	80	60	100	0	80	75
BYE (PointNet)	85.7	90	77.8	77.8	66.7	100	100	100	80	100	80	60	100	40	80	100
BYE (DGCNN + CLIP)	92.5	100	88.9	77.8	100	100	100	100	100	100	80	100	100	60	100	100
BYE (PointNet + CLIP)	95.6	100	88.9	100	100	100	100	100	100	100	80	100	100	80	100	100