2026
Clutt3R-Seg: Sparse-View 3D Instance Segmentation for Language-Grounded Grasping in Cluttered Scenes
ICRA 2026poster
Reliable 3D instance segmentation is fundamental to language-grounded robotic manipulation. Its critical application lies in cluttered environments, where occlusions, limited viewpoints, and noisy masks degrade perception. To address these challenges, we present Clutt3R-Seg, a zero-shot pipeline for…