arxivcs.RO2026-07-22
SeededGrasp: Language-Guided Grasping in Complex Scenes with Multiple Embodiments
Yang Xu, Gurpreet Singh Mukker, Raymond Wang, Jasper Gerigk, Maria Attarian, Igor Gilitschenski
Practical robotic grasping in complex scenes requires both 3D spatial reasoning and alignment with task-specific requirements. Vision-language models (VLMs) offer a natural way to specify these requirements using language, but existing approaches either use a VLM to predict the g…