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arXiv · 2606.26829

Identifying the Unknown: Prompt-Free Open Vocabulary Anomaly Recognition for Robot-Object Interaction

Philipp Allgeuer·Jan-Gerrit Habekost·Stefan Wermter
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Abstract

Robots operating in real-world environments must in general be able to recognize previously unseen objects. As robotic systems move toward open-world autonomy, there is a growing, yet largely unmet, need for open vocabulary object detectors that are prompt-free and efficient enough for continuous deployment. We present AnomNOVIC, a two-stage known-workspace framework that combines a masked autoencoder (MAE) trained for anomaly detection, with NOVIC, a powerful real-time prompt-free open vocabulary image classifier. The MAE produces generic object-agnostic bounding boxes, allowing NOVIC to classify salient image regions without requiring a predefined candidate class list. We evaluate AnomNOVIC against strong open vocabulary baselines in a tabletop robot-object environment featuring the NICOL humanoid robot, reaching 47.1% AP / 57.5% AP50 for prompt-free recognition, and 59.0% AP / 72.5% AP50 if class candidates are provided. Across additional datasets, including an in-the-wild test set with 48 unique objects, AnomNOVIC reaches up to 82.6% prompt-free detection and classification accuracy. These results significantly surpass all tested open vocabulary baselines, including YOLO-World-v2, OWLv2, and YOLOE.

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Philipp Allgeuer, Jan-Gerrit Habekost, Stefan Wermter. 2026-06-25. Identifying the Unknown: Prompt-Free Open Vocabulary Anomaly Recognition for Robot-Object Interaction. https://arxiv.org/abs/2606.26829

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