MANIPULATION
任意标注：用于机器人操作的3D资产自动标注
Haoran Lu, Mutian Shen, Shuyang Yu, Yu Xiao, Songling Liu, Jianshu Zhang, Shang Wu, Yue Chen, Guo Ye, Jiayi Wang, Zhaoran Wang, Han Liu
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出AnnotateAnything框架，通过视觉语言推理和物理标注两条互补流水线，自动将被动3D资产转换为带有结构化、多样化、可执行操作标签的资产。该框架可生成抓取姿态、灵巧接触、关节运动路径等多种操作标注，支持大规模机器人数据收集。
关键词
3D asset annotationrobot manipulationvision-language reasoningphysics-based annotationautomatic labeling
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