Enhancing task-oriented robotic grasping via 3D affordance grounding from vision-language models
Abstract Existing task-oriented grasping approaches often rely on 2D pixel-wise affordance segmentation or predefined part annotations, limiting their applicability in unstructured 3D environments and constraining the grasp planning space. To overcome these limitations, we introduce a novel affordan...
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| Principais autores: | , , , , |
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| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
Springer
2025-12-01
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| coleção: | Complex & Intelligent Systems |
| Assuntos: | |
| Acesso em linha: | https://doi.org/10.1007/s40747-025-02169-0 |
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