# Show and Grasp: Few-shot Semantic Segmentation for Robot Grasping through Zero-shot Foundation Models

arXiv: https://arxiv.org/abs/2404.12717 · HTML: https://mlsanity.com/paper/2404.12717/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 49 references that are in the map.
- First posted on arXiv 19 Apr 2024.

## Builds on (most cited first, 30 of 36)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [Prototypical Networks for Few-shot Learning](https://mlsanity.com/paper/1703.05175/) (2017)
- [A Survey of Large Language Models](https://mlsanity.com/paper/2303.18223/) (2023)
- [Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains](https://mlsanity.com/paper/2006.10739/) (2020)
- [Learning to Compare: Relation Network for Few-Shot Learning](https://mlsanity.com/paper/1711.06025/) (2017)
- [Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation](https://mlsanity.com/paper/2209.05451/) (2022)
- [PANet: Few-Shot Image Semantic Segmentation with Prototype Alignment](https://mlsanity.com/paper/1908.06391/) (2019)
- [LangSplat: 3D Language Gaussian Splatting](https://mlsanity.com/paper/2312.16084/) (2023)
- [Gaussian Grouping: Segment and Edit Anything in 3D Scenes](https://mlsanity.com/paper/2312.00732/) (2023)
- [One-Shot Learning for Semantic Segmentation](https://mlsanity.com/paper/1709.03410/) (2017)
- [Prior Guided Feature Enrichment Network for Few-Shot Segmentation](https://mlsanity.com/paper/2008.01449/) (2020)
- [Adaptive Prototype Learning and Allocation for Few-Shot Segmentation](https://mlsanity.com/paper/2104.01893/) (2021)
- [Cut and Learn for Unsupervised Object Detection and Instance Segmentation](https://mlsanity.com/paper/2301.11320/) (2023)
- [Few-Shot Segmentation Without Meta-Learning: A Good Transductive Inference Is All You Need?](https://mlsanity.com/paper/2012.06166/) (2020)
- [Pushing the Limits of Simple Pipelines for Few-Shot Learning: External Data and Fine-Tuning Make a Difference](https://mlsanity.com/paper/2204.07305/) (2022)
- [Few-Shot Classification with Feature Map Reconstruction Networks](https://mlsanity.com/paper/2012.01506/) (2020)
- [Simpler is Better: Few-shot Semantic Segmentation with Classifier Weight Transformer](https://mlsanity.com/paper/2108.03032/) (2021)
- [Self-Guided and Cross-Guided Learning for Few-Shot Segmentation](https://mlsanity.com/paper/2103.16129/) (2021)
- [Hierarchical Dense Correlation Distillation for Few-Shot Segmentation](https://mlsanity.com/paper/2303.14652/) (2023)
- [Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks](https://mlsanity.com/paper/2012.03385/) (2020)
- [Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network](https://mlsanity.com/paper/1909.04810/) (2019)
- [EasyLabel: A Semi-Automatic Pixel-wise Object Annotation Tool for Creating Robotic RGB-D Datasets](https://mlsanity.com/paper/1902.01626/) (2019)
- [End-to-End Affordance Learning for Robotic Manipulation](https://mlsanity.com/paper/2209.12941/) (2022)
- [Singular Value Fine-tuning: Few-shot Segmentation requires Few-parameters Fine-tuning](https://mlsanity.com/paper/2206.06122/) (2022)

## Built on by (most cited first, 2 of 2)

- [Efficient and Reliable Vector Similarity Search Using Asymmetric Encoding with NAND-Flash for Many-Class Few-Shot Learning](https://mlsanity.com/paper/2409.07832/) (2024)
- [SPGrasp: Spatiotemporal Prompt-driven Grasp Synthesis in Dynamic Scenes](https://mlsanity.com/paper/2508.20547/) (2025)

## Abstract (arXiv)

The ability of a robot to pick an object, known as robot grasping, is crucial for several applications, such as assembly or sorting. In such tasks, selecting the right target to pick is as essential as inferring a correct configuration of the gripper. A common solution to this problem relies on semantic segmentation models, which often show poor generalization to unseen objects and require considerable time and massive data to be trained. To reduce the need for large datasets, some grasping pipelines exploit few-shot semantic segmentation models, which are capable of recognizing new classes given a few examples. However, this often comes at the cost of limited performance and fine-tuning is required to be effective in robot grasping scenarios. In this work, we propose to overcome all these limitations by combining the impressive generalization capability reached by foundation models with a high-performing few-shot classifier, working as a score function to select the segmentation that is closer to the support set. The proposed model is designed to be embedded in a grasp synthesis pipeline. The extensive experiments using one or five examples show that our novel approach overcomes existing performance limitations, improving the state of the art both in few-shot semantic segmentation on the Graspnet-1B (+10.5% mIoU) and Ocid-grasp (+1.6% AP) datasets, and real-world few-shot grasp synthesis (+21.7% grasp accuracy). The project page is available at: https://leobarcellona.github.io/showandgrasp.github.io/