TGrasp6D: Task-Informed Vision-Language Priors and Pose Refinement enable Zero-Shot Task-Oriented 6DoF Grasping.

arXiv:2610.20901v1 Announce Type: cross Abstract: Task-Oriented Grasping (TOG) has emerged as an important skill for purposeful robotic manipulation. Given the task of using a knife to "slice bread," a robot must choose to grasp from the handle, whereas for "h