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simmediumgraspingmetric · varies
DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies
Description
Large language models (LLMs) can provide rich physical descriptions of most worldly objects, allowing robots to achieve more informed and capable grasping. We leverage LLMs' common sense physical reasoning and code-writing abilities to infer an object's physical characteristics$\unicode{x2013}$mass $m$, friction coefficient $μ$, and spring constant $k$$\unicode{x2013}$from a semantic description, and then translate those characteristics into an executable adaptive grasp policy. Using a two-finge