The viewpoint-agnostic grasp pipeline using VLM and partial observation handling achieves 90% success (9/10 trials) in cluttered tabletop scenarios on a real quadruped robot, outperforming a view-dependent baseline at 30% (3/10) through open-vocabulary detection, point cloud completion, and safety-0
Open-vocabulary part-based grasping.arXiv preprint arXiv:2406.05951, 2024
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Viewpoint-Agnostic Grasp Pipeline using VLM and Partial Observations
The viewpoint-agnostic grasp pipeline using VLM and partial observation handling achieves 90% success (9/10 trials) in cluttered tabletop scenarios on a real quadruped robot, outperforming a view-dependent baseline at 30% (3/10) through open-vocabulary detection, point cloud completion, and safety-0
- DSAA: Dual-Stage Attribute Activation for Fine-grained Open Vocabulary Detection