UniDiffGrasp: A Unified Framework Integrating VLM Reasoning and VLM-Guided Part Diffusion for Open-Vocabulary Constrained Grasping with Dual Arms

Xueyang Guo, Hongwei Hu, Chengye Song +5

Open-vocabulary, task-oriented grasping of specific functional parts, particularly with dual arms, remains a key challenge, as current Vision-Language Models (VLMs), while enhancin…