GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation

Abhay Deshpande, Yuquan Deng, Arijit Ray +7

We present GrasMolmo, a generalizable open-vocabulary task-oriented grasping (TOG) model. GraspMolmo predicts semantically appropriate, stable grasps conditioned on a natural langu…