Mu-Lian Lai

Task-Aware 6-DoF Grasp Pose Estimation through Cross-Modal Gated Fusion of Foundation-Model Semantic Embeddings

Robotic grasping in cluttered scenes is dominated by methods that optimise either stability or a predefined task category, leaving a gap between “can this grasp hold the object” and “can this grasp complete the requested downstream task.” We address this gap with Task-Aware 6-DoF, a three-module detector that routes a...