{"ID":2859200,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.05662","arxiv_id":"2510.05662","title":"DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulation","abstract":"Despite the prevalence of transparent object interactions in human everyday life, transparent robotic manipulation research remains limited to short-horizon tasks and basic grasping capabilities. Although some methods have partially addressed these issues, most of them have limitations in generalization to novel objects and are insufficient for precise long-horizon robot manipulation. To address this limitation, we propose DeLTa (Demonstration and Language-Guided Novel Transparent Object Manipulation), a novel framework that integrates depth estimation, 6D pose estimation, and vision-language planning for precise long-horizon manipulation of transparent objects guided by natural language task instructions. A key advantage of our method is its single-demonstration approach, which generalizes 6D trajectories to novel transparent objects without requiring category-level priors or additional training. Additionally, we present a task planner that refines the VLM-generated plan to account for the constraints of a single-arm, eye-in-hand robot for long-horizon object manipulation tasks. Through comprehensive evaluation, we demonstrate that our method significantly outperforms existing transparent object manipulation approaches, particularly in long-horizon scenarios requiring precise manipulation capabilities. Project page: https://sites.google.com/view/DeLTa25/","short_abstract":"Despite the prevalence of transparent object interactions in human everyday life, transparent robotic manipulation research remains limited to short-horizon tasks and basic grasping capabilities. Although some methods have partially addressed these issues, most of them have limitations in generalization to novel object...","url_abs":"https://arxiv.org/abs/2510.05662","url_pdf":"https://arxiv.org/pdf/2510.05662v2","authors":"[\"Taeyeop Lee\",\"Gyuree Kang\",\"Bowen Wen\",\"Youngho Kim\",\"Seunghyeok Back\",\"In So Kweon\",\"David Hyunchul Shim\",\"Kuk-Jin Yoon\"]","published":"2025-10-07T08:18:29Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.CV\"]","methods":"[]","project_urls":"[\"https://sites.google.com/view/DeLTa25/\"]","has_code":false,"code_links":[{"ID":608616,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2859200,"paper_url":"https://arxiv.org/abs/2510.05662","paper_title":"DeLTa: Demonstration and Language-Guided Novel Transparent Object Manipulation","repo_url":"https://github.com/google/safevalues","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}