Stimulating Imagination: Towards General-purpose "Something Something Placement"

General-purpose object placement is a fundamental capability of an intelligent generalist robot: being capable of rearranging objects following precise human instructions even in novel environments. This work is dedicated to achieving general-purpose object placement with ``something something'' instructions. Specifically, we break the entire process down into three parts, including object localization, goal imagination and robot control, and propose a method named SPORT. SPORT leverages a pre-trained large vision model for broad semantic reasoning about objects, and learns a diffusion-based pose estimator to ensure physically-realistic results in 3D space. Only object types (movable or reference) are communicated between these two parts, which brings two benefits. One is that we can fully leverage the powerful ability of open-set object recognition and localization since no specific fine-tuning is needed for the robotic scenario. Moreover, the diffusion-based estimator only need to ``imagine" the object poses after the placement, while no necessity for their semantic information. Thus the training burden is greatly reduced and no massive training is required. The training data for the goal pose estimation is collected in simulation and annotated by using GPT-4. Experimental results demonstrate the effectiveness of our approach. SPORT can not only generate promising 3D goal poses for unseen simulated objects, but also be seamlessly applied to real-world settings.