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
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2026 2verdicts
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DSAA boosts fine-grained OVD by injecting attribute priors via APA in text embeddings, modulating K/V in BERT, and using attribute-aware contrastive loss, with gains reported on FG-OVD benchmark.
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