mlsanityData to 14 Oct 2026

VL-Grasp: a 6-Dof Interactive Grasp Policy for Language-Oriented Objects in Cluttered Indoor Scenes

arXiv 2308.00640 ↗First posted 1 Aug 2023cs.ROcited by 42

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Abstract (arXiv)

Robotic grasping faces new challenges in human-robot-interaction scenarios. We consider the task that the robot grasps a target object designated by human's language directives. The robot not only needs to locate a target based on vision-and-language information, but also needs to predict the reasonable grasp pose candidate at various views and postures. In this work, we propose a novel interactive grasp policy, named Visual-Lingual-Grasp (VL-Grasp), to grasp the target specified by human language. First, we build a new challenging visual grounding dataset to provide functional training data for robotic interactive perception in indoor environments. Second, we propose a 6-Dof interactive grasp policy combined with visual grounding and 6-Dof grasp pose detection to extend the universality of interactive grasping. Third, we design a grasp pose filter module to enhance the performance of the policy. Experiments demonstrate the effectiveness and extendibility of the VL-Grasp in real world. The VL-Grasp achieves a success rate of 72.5% in different indoor scenes. The code and dataset is available at https://github.com/luyh20/VL-Grasp.

Key facts. Cited by 42 papers in the map (data through 14 Oct 2026). First posted on arXiv 1 Aug 2023.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 10; 2025: 11; 2026: 21.

42 papers.

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  1. 2024RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Roboticscited by 251
  2. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 123
  3. 2025InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policycited by 84
  4. 2026Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalizationcited by 66
  5. 2025From Seeing to Doing: Bridging Reasoning and Decision for Robotic Manipulationcited by 35
  6. 2024SUGAR: Pre-training 3D Visual Representations for Roboticscited by 26
  7. 2026HY-Embodied-0.5: Embodied Foundation Models for Real-World Agentscited by 18
  8. 2024Towards Open-World Grasping with Large Vision-Language Modelscited by 15
  9. 2025GLOVER++: Unleashing the Potential of Affordance Learning from Human Behaviors for Robotic Manipulationcited by 14
  10. 2025NaviMaster: Learning a Unified Policy for GUI and Embodied Navigation Taskscited by 10
  11. 2024Lightweight Language-driven Grasp Detection using Conditional Consistency Modelcited by 9
  12. 2025GarmentPile: Point-Level Visual Affordance Guided Retrieval and Adaptation for Cluttered Garments Manipulationcited by 9
30 more
  1. 2026ST4VLA: Spatially Guided Training for Vision-Language-Action Modelscited by 9
  2. 2025Free-form language-based robotic reasoning and graspingcited by 8
  3. 2026Hy-Embodied-VLM-1.0: Efficient Physical-World Agentscited by 8
  4. 2024SpectralWaste Dataset: Multimodal Data for Waste Sorting Automationcited by 7
  5. 2024HiFi-CS: Towards Open Vocabulary Visual Grounding For Robotic Grasping Using Vision-Language Modelscited by 7
  6. 2026PokeVLA: Empowering Pocket-Sized Vision-Language-Action Model with Comprehensive World Knowledge Guidancecited by 6
  7. 2026InstructSAM: Segment Any Instance with Any Instructionscited by 6
  8. 2026GEM: Generative Supervision Helps Embodied Intelligencecited by 6
  9. 2026Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Modelscited by 6
  10. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 6
  11. 2024GraspMamba: A Mamba-based Language-driven Grasp Detection Framework with Hierarchical Feature Learningcited by 3
  12. 2026ST-VLA: Enabling 4D-Aware Spatiotemporal Understanding for General Robot Manipulationcited by 3
  13. 2026RoboStressBench: Benchmarking VLM Robustness to Physical Visual Stress in Embodied Scenescited by 3
  14. 2024Language-driven Grasp Detection with Mask-guided Attentioncited by 2
  15. 2024Target-Oriented Object Grasping via Multimodal Human Guidancecited by 2
  16. 2025VCoT-Grasp: Grasp Foundation Models with Visual Chain-of-Thought Reasoning for Language-driven Grasp Generationcited by 2
  17. 2026GP-4DGS: Probabilistic 4D Gaussian Splatting from Monocular Video via Variational Gaussian Processescited by 2
  18. 2026Unmasking the Illusion of Embodied Reasoning in Vision-Language-Action Modelscited by 2
  19. 2026XEmbodied: A Foundation Model with Enhanced Geometric and Physical Cues for Large-Scale Embodied Environmentscited by 2
  20. 2024Learning Dual-Arm Push and Grasp Synergy in Dense Cluttercited by 1
  21. 2025SR3D: Unleashing Single-view 3D Reconstruction for Transparent and Specular Object Graspingcited by 1
  22. 2025Language-Guided Grasp Detection with Coarse-to-Fine Learning for Robotic Manipulationcited by 1
  23. 2026RealVLG-R1: A Large-Scale Real-World Visual-Language Grounding Benchmark for Robotic Perception and Manipulationcited by 1
  24. 2026SPARC: Reliable Spatial Annotations from Robot Demonstrations at Scalecited by 1
  25. 2025Attribute-based Object Grounding and Robot Grasp Detection with Spatial Reasoningcited by 0
  26. 2026RoboPIN: Grounded Embodied Reasoning via Pinned Chain-of-Thoughtcited by 0
  27. 2026Capek 0.5: An Execution-Centric Vision-Language Model for Embodied Intelligencecited by 0
  28. 2026PhysBrain 1.5: From Vision-Language Models to Physical Foundation Modelscited by 0
  29. 2026Pro-Bench: Prompt-Robust Open-Vocabulary Visual Grounding Across Real-World Heterogeneous Environmentscited by 0
  30. 2026ABot-ER: Unified Embodied Reasoning through Agentic Data-Model Co-Evolutioncited by 0