Potential-Guided Particle Steering for Negation-Constrained Dexterous Grasping
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2609.00555v1 Announce Type: new Abstract: Language-driven dexterous grasp models, such as DextER, perform well when instructions specify where to grasp, but we find they fail systematically when an instruction also specifies where not to grasp (e.g., "grasp the handle but avoid the body"). Existing training corpora, DexGYSNet among them, contain virtually no avoidance instructions, and collecting examples for every possible constraint is impractical.