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simmediumgraspingmetric · varies
SegGrasp: Zero-Shot Task-Oriented Grasping via Semantic and Geometric Guided Segmentation
Description
Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a training-free framework that incorporates both semantic and geometric priors for zero-shot task-oriented grasp generation. The proposed framework, SegGrasp, first leverages the vision-language models like GLIP for coarse segmentation. It then uses detailed geo