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TGrasp6D: Task-Informed Vision-Language Priors and Pose Refinement enable Zero-Shot Task-Oriented 6DoF Grasping
Task-Oriented Grasping (TOG) has emerged as an important skill for purposeful robotic manipulation. Given the task of using a knife to "slice bread," a robot must choose to grasp from the handle, whereas for "hand[ing] the knife over," it is preferable for the handle to remain unobstructed for safe
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