arxivcs.RO2026-07-31
SAGP: Semantic Affordance-Guided Grasp Planning via Coarse-Zone VLM Reasoning
Geometry-based grasp planners ensure physically valid grasps but ignore functional semantics, often generating grasps that are antipodal and collision-free yet practically inappropriate, for example, gripping a mug by its rim, a knife by the blade, or a bottle near its cap. These…