SAGE🌿: Bridging Semantic and Actionable Parts for Generalizable Articulated-Object Manipulation under Language Instructions

This is the official repository of SAGE🌿: Bridging Semantic and Actionable Parts for Generalizable Articulated-Object Manipulation under Language Instructions.

For more information, please visit our project page.

SAGE overview

Demonstration of SAGE on challening articulated-object manipulation

Demonstration of SAGE on a variety of articulated objects

Benchmark & Code & Instructions

Coming soon...

Citation

If you find our work useful in your research, please consider citing:

@misc{geng2023sage,
      title={SAGE: Bridging Semantic and Actionable Parts for GEneralizable Articulated-Object Manipulation under Language Instructions}, 
      author={Haoran Geng and Songlin Wei and Congyue Deng and Bokui Shen and He Wang and Leonidas Guibas},
      year={2023},
      eprint={2312.01307},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Contact

If you have any questions, please open a github issue or contact us:

Haoran Geng: [email protected]