VL-Grasp: a 6-Dof Interactive Grasp Policy for Language-Oriented Objects in Cluttered Indoor Scenes

Yuhao Lu,Yixuan Fan,Beixing Deng,Fangfu Liu,Yali Li,Shengjin Wang,Yuhao Lu,Yixuan Fan,Beixing Deng,Fangfu Liu,Yali Li,Shengjin Wang

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on vision-and-language information, but also needs to predict the reasonable grasp pose candidate at various views and postures. In this work, we propose a novel interactiv...