Coarse-zone VLM ratings re-rank geometric grasps to prefer functionally appropriate regions, preserving physical success while improving semantic appropriateness on handle-bearing objects.
A human-inspired real-time grasp force selec- tion policy based on load-grip force coupling
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SAGP: Semantic Affordance-Guided Grasp Planning via Coarse-Zone VLM Reasoning
Coarse-zone VLM ratings re-rank geometric grasps to prefer functionally appropriate regions, preserving physical success while improving semantic appropriateness on handle-bearing objects.