ThinkGrasp: A Vision-Language System for Strategic Part Grasping in Clutter

Understand

Robotic grasping in cluttered environments remains a significant challenge due to occlusions and complex object arrangements.

• We have developed ThinkGrasp, a plug-and-play vision-language grasping system that makes use of GPT-4o's advanced contextual reasoning for heavy clutter environment grasping strategies.
• ThinkGrasp can effectively identify and generate grasp poses for target objects, even when they are heavily obstructed or nearly invisible, by using goal-oriented language to guide the removal of obstructing objects.
• This approach progressively uncovers the target object and ultimately grasps it with a few steps and a high success rate.