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

Abhay Deshpande; Yuquan Deng; Jordi Salvador; Arijit Ray; Winson Han; Jiafei Duan; Rose Hendrix; Yuke Zhu; Ranjay Krishna

2025 CoRL CoRL 2025

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

Abstract

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🌉 Interdisciplinary Bridge - Artificial Intelligence and Natural Language Processing and Robotics

Authors

Abhay Deshpande, Yuquan Deng, Jordi Salvador, Arijit Ray, Winson Han, Jiafei Duan, Rose Hendrix, Yuke Zhu, Ranjay Krishna

Topics

Natural Language Processing > Resources & Methods > Multilingual NLP Robotics > Capabilities > Manipulation Artificial Intelligence > Core AI > Large Language Models

Keywords

zero-shot generalization synthetic dataset task-oriented grasping open-vocabulary instruction bimanual grasps semantic grasp selection

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