FoundationGrasp: Generalizable Task-Oriented Grasping With Foundation Models

Abstract

Task-oriented grasping (TOG), which refers to synthesizing grasps on an object that are configurationally compatible with the downstream manipulation task, is the first milestone towards tool manipulation. Analogous to the activation of two brain regions responsible for semantic and geometric reasoning during cognitive processes, modeling the intricate relationship between objects, tasks, and grasps necessitates rich semantic and geometric prior knowledge about these elements. Existing methods typically restrict the prior knowledge to a closed-set scope, limiting their generalization to novel objects and tasks out of the training set. To address such a limitation, we propose FoundationGrasp, a foundation model-based TOG framework that leverages the open-ended knowledge from foundation models to learn generalizable TOG skills. Extensive experiments are conducted on the contributed Language and Vision Augmented TaskGrasp (LaViA-TaskGrasp) dataset, demonstrating the superiority of FoundationGrasp over existing methods when generalizing to novel object instances, object classes, and tasks out of the training set. Furthermore, the effectiveness of FoundationGrasp is validated in real-robot grasping and manipulation experiments on a 7-DoF robotic arm. Our code, data, appendix, and video are publicly available at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://sites.google.com/view/foundationgrasp</uri>. Note to Practitioners—This research is motivated by the challenge of generalizable task-oriented grasping skill learning. Solving such a challenge could significantly improve the robot’s level of automation and intelligence in tool manipulation for household and industrial tasks. Existing methods struggle with handling unseen objects and tasks in dynamic, open-world environments. To overcome this limitation, we propose to leverage the open-ended knowledge from foundation models to improve the generalization capabilities of existing TOG methods. This way, the robot can perform TOG w.r.t. unseen objects and tasks, facilitating downstream tool manipulation. Overall, this research has broad applicability to various scenarios involving tool manipulation, such as cleaning kitchenware and assembling parts in industrial contexts.