# OpenTie: Open-vocabulary Sequential Rebar Tying System

arXiv: https://arxiv.org/abs/2509.00064 · HTML: https://mlsanity.com/paper/2509.00064/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 16 of its 42 references that are in the map.
- First posted on arXiv 26 Aug 2025.

## Builds on (most cited first, 16 of 16)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning](https://mlsanity.com/paper/2202.02005/) (2022)
- [YOLOv12: Attention-Centric Real-Time Object Detectors](https://mlsanity.com/paper/2502.12524/) (2025)
- [Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models](https://mlsanity.com/paper/2310.10639/) (2023)
- [MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting](https://mlsanity.com/paper/2403.03174/) (2024)
- [T-Rex2: Towards Generic Object Detection via Text-Visual Prompt Synergy](https://mlsanity.com/paper/2403.14610/) (2024)
- [LIGA-Stereo: Learning LiDAR Geometry Aware Representations for Stereo-based 3D Detector](https://mlsanity.com/paper/2108.08258/) (2021)
- [Zero-Shot Robot Manipulation from Passive Human Videos](https://mlsanity.com/paper/2302.02011/) (2023)
- [VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation](https://mlsanity.com/paper/2503.07135/) (2025)
- [Open-Vocabulary Affordance Detection in 3D Point Clouds](https://mlsanity.com/paper/2303.02401/) (2023)
- [Vision Language Action Models in Robotic Manipulation: A Systematic Review](https://mlsanity.com/paper/2507.10672/) (2025)
- [Open-Vocabulary Part-Based Grasping](https://mlsanity.com/paper/2406.05951/) (2024)
- [RoboBERT: An End-to-end Multimodal Robotic Manipulation Model](https://mlsanity.com/paper/2502.07837/) (2025)
- [OVGNet: A Unified Visual-Linguistic Framework for Open-Vocabulary Robotic Grasping](https://mlsanity.com/paper/2407.13175/) (2024)
- [Point2Graph: An End-to-end Point Cloud-based 3D Open-Vocabulary Scene Graph for Robot Navigation](https://mlsanity.com/paper/2409.10350/) (2024)
- [Zero-Shot Visual Generalization in Robot Manipulation](https://mlsanity.com/paper/2505.11719/) (2025)

## Abstract (arXiv)

Robotic practices on the construction site emerge as an attention-attracting manner owing to their capability of tackling complex challenges, especially in the rebar-involved scenarios. Most of existing products and research are mainly focused on the collection of large amounts of data with model training demands. To fulfill this gap, we propose OpenTie, a 3D training-free rebar tying framework utilizing a RGB-to-point-cloud generation and an open-vocabulary rebar detection on the real-world test. We implement the OpenTie via a robotic arm with a binocular camera and guarantee a high accuracy by applying the prompt-based object detection method on the image filtered by our proposed post-processing procedure for the image-to-point-cloud generation framework. Our pipeline requires no training efforts and outperforms the training-based object detection, i.e., YOLO-based method, with the verification on the real-world sequential rebar tying test. The system is flexible for horizontal and vertical rebar tying tasks and holds the potential application to the real construction site with possibility of commercialization.