arxivcs.RO2026-07-03
Beyond Point-Attached Semantics: Object-Centric Semantic Fields for Generalizable Manipulation
Zheng Sun, Lerong Zhang, Zhihao Li, Zhuo Li, Quentin Rouxel, Fei Chen
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 con…