# Object-centric Inference for Language Conditioned Placement: A Foundation Model based Approach

arXiv: https://arxiv.org/abs/2304.02893 · HTML: https://mlsanity.com/paper/2304.02893/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 23 references that are in the map.
- First posted on arXiv 6 Apr 2023.

## Builds on (most cited first, 14 of 14)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Modeling Context in Referring Expressions](https://mlsanity.com/paper/1608.00272/) (2016)
- [CLIP-Adapter: Better Vision-Language Models with Feature Adapters](https://mlsanity.com/paper/2110.04544/) (2021)
- [CLIPort: What and Where Pathways for Robotic Manipulation](https://mlsanity.com/paper/2109.12098/) (2021)
- [Google Scanned Objects: A High-Quality Dataset of 3D Scanned Household Items](https://mlsanity.com/paper/2204.11918/) (2022)
- [Socratic Models: Composing Zero-Shot Multimodal Reasoning with Language](https://mlsanity.com/paper/2204.00598/) (2022)
- [MineDojo: Building Open-Ended Embodied Agents with Internet-Scale Knowledge](https://mlsanity.com/paper/2206.08853/) (2022)
- [Transporter Networks: Rearranging the Visual World for Robotic Manipulation](https://mlsanity.com/paper/2010.14406/) (2020)
- [Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks](https://mlsanity.com/paper/2012.03385/) (2020)
- [A Joint Modeling of Vision-Language-Action for Target-oriented Grasping in Clutter](https://mlsanity.com/paper/2302.12610/) (2023)
- [Composing Pick-and-Place Tasks By Grounding Language](https://mlsanity.com/paper/2102.08094/) (2021)
- [Learning Object Placements For Relational Instructions by Hallucinating Scene Representations](https://mlsanity.com/paper/2001.08481/) (2020)

## Built on by (most cited first, 4 of 4)

- [Language-driven Grasp Detection](https://mlsanity.com/paper/2406.09489/) (2024)
- [Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior](https://mlsanity.com/paper/2402.15402/) (2024)
- [Efficient Alignment of Unconditioned Action Prior for Language-conditioned Pick and Place in Clutter](https://mlsanity.com/paper/2503.09423/) (2025)
- [Target-Oriented Object Grasping via Multimodal Human Guidance](https://mlsanity.com/paper/2408.11138/) (2024)

## Abstract (arXiv)

We focus on the task of language-conditioned object placement, in which a robot should generate placements that satisfy all the spatial relational constraints in language instructions. Previous works based on rule-based language parsing or scene-centric visual representation have restrictions on the form of instructions and reference objects or require large amounts of training data. We propose an object-centric framework that leverages foundation models to ground the reference objects and spatial relations for placement, which is more sample efficient and generalizable. Experiments indicate that our model can achieve a 97.75% success rate of placement with only ~0.26M trainable parameters. Besides, our method generalizes better to both unseen objects and instructions. Moreover, with only 25% training data, we still outperform the top competing approach.