AdaRPG uses GPT-4o, GroundingDINO, and SAM to locate and segment the movable part, a part-affordance model to choose a grasp, and GPT-4o to write the control loop, outperforming prior methods on new articulated objects.
Can foundation models perform zero-shot task specification for robot manipulation? In Learning for dynamics and control conference , pages 893–
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Adaptive Articulated Object Manipulation On The Fly with Foundation Model Reasoning and Part Grounding
AdaRPG uses GPT-4o, GroundingDINO, and SAM to locate and segment the movable part, a part-affordance model to choose a grasp, and GPT-4o to write the control loop, outperforming prior methods on new articulated objects.