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cs.RO2026
TGrasp6D: Task-Informed Vision-Language Priors and Pose Refinement enable Zero-Shot Task-Oriented 6DoF Grasping
Manav Kulshrestha, Apoorva Vashisth, Damon Conover +1
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 f…
cs.RO2026
CoReLIN: Constraint-based Reasoning for Zero-shot Lifelong Interactive Navigation
Apoorva Vashisth, Manav Kulshrestha, Pranav Bakshi +3
Robot navigation typically assumes an obstacle-free path exists between start and goal. In real environments, however, clutter may block all routes. We introduce Lifelong Interacti…