{"id":10413,"date":"2026-07-26T07:08:05","date_gmt":"2026-07-25T23:08:05","guid":{"rendered":"https:\/\/infernews.com\/blog\/post-f56ec757\/"},"modified":"2026-07-26T07:08:05","modified_gmt":"2026-07-25T23:08:05","slug":"post-f56ec757","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/post-f56ec757\/","title":{"rendered":"SeededGrasp \u7528\u81ea\u7136\u8a9e\u8a00\u6307\u63ee\u6a5f\u68b0\u4eba\u7cbe\u6e96\u6293\u53d6\u96dc\u4e82\u7269\u4ef6"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/07\/pasted-32c5a878e708.jpg\" alt=\"SeededGrasp: Language-Guided Grasping in Complex Scenes with Multiple Embodiments teaser figure\"><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u7576\u684c\u9762\u5806\u6eff\u4e0d\u540c\u7269\u4ef6\uff0c\u6a5f\u68b0\u4eba\u8981\u807d\u5f97\u660e\u300c\u62ce\u7d05\u8272\u676f\u65c1\u908a\u55f0\u652f\u7b46\u300d\u9019\u985e\u6307\u4ee4\uff0c\u96e3\u8655\u4e0d\u53ea\u5728\u8fa8\u8a8d\u7269\u4ef6\uff0c\u4ef2\u8981\u540c\u6642\u7b97\u6e96 3D \u7a7a\u9593\u4f4d\u7f6e\u540c\u6293\u53d6\u89d2\u5ea6\u3002SeededGrasp \u91dd\u5c0d\u7684\u6b63\u662f\u9019\u985e\u8a9e\u8a00\u5f15\u5c0e\u6293\u53d6\u5834\u666f\uff0c\u91cd\u9ede\u4e0d\u662f\u7aef\u5230\u7aef\u786c\u63a8\u6574\u500b\u52d5\u4f5c\uff0c\u800c\u662f\u5148\u627e\u5c0d\u76ee\u6a19\uff0c\u518d\u751f\u6210\u7a69\u5b9a\u6293\u53d6\u59ff\u614b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5b83\u7684\u505a\u6cd5\u76f8\u7576\u6e05\u6670\uff1a\u5148\u7528\u9810\u8a13\u7df4 Vision-Language Model\uff08VLM\uff09\u628a\u6587\u5b57\u6307\u4ee4\u8f49\u6210\u5f71\u50cf\u4e2d\u7684 2D \u7a2e\u5b50\u9ede\uff0c\u518d\u6295\u5f71\u5230 3D \u9ede\u96f2\uff0c\u4ea4\u7d66\u8f15\u91cf\u7684 flow-matching grasp model \u7522\u751f 6DOF \u6293\u53d6\u59ff\u614b\u3002\u9019\u7a2e\u62c6\u5206\u65b9\u5f0f\u628a\u9ad8\u5c64\u8a9e\u610f\u5224\u65b7\u540c\u4f4e\u5c64\u5e7e\u4f55\u57f7\u884c\u5206\u958b\uff0c\u6e1b\u5c11\u91cd\u65b0\u8a13\u7df4\u6574\u500b\u7cfb\u7d71\u7684\u6210\u672c\uff0c\u4e5f\u8f03\u5bb9\u6613\u652f\u63f4\u591a\u7a2e embodiment\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u76f8\u6bd4\u76f4\u63a5\u7531 VLM \u9810\u6e2c\u6293\u53d6\uff0cSeededGrasp \u4fdd\u7559\u8a9e\u8a00\u7406\u89e3\u7684\u76f4\u89c0\u64cd\u4f5c\uff0c\u540c\u6642\u88dc\u56de\u7a7a\u9593\u63a8\u7406\u4e0d\u8db3\uff1b\u76f8\u6bd4\u628a VLM \u540c\u6293\u53d6\u6a21\u578b\u4e00\u4f75\u8a13\u7df4\uff0c\u5b83\u5c0d\u8a9e\u8a00\u6a19\u8a3b\u8cc7\u6599\u8207\u7b97\u529b\u7684\u9700\u6c42\u66f4\u514b\u5236\u3002\u5718\u968a\u4ea6\u516c\u958b\u591a embodiment \u684c\u9762\u6293\u53d6\u6578\u64da\u96c6\uff0c\u5305\u542b\u8d85\u904e 2.56M \u500b cluttered scenes \u6293\u53d6\u59ff\u614b\uff0c\u6db5\u84cb Franka Panda\u3001Allegro Hand \u540c Robotiq 3-Finger\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u7528\u7c21\u55ae\u6587\u5b57\u6307\u4ee4\u6307\u5b9a\u76ee\u6a19\uff0c\u9069\u5408\u96dc\u4e82\u684c\u9762\u6293\u53d6\u60c5\u5883<\/li>\n<li>\u4ee5 2D \u7a2e\u5b50\u9ede\u9023\u63a5 VLM \u8207 3D \u6293\u53d6\u751f\u6210\uff0c\u964d\u4f4e\u7aef\u5230\u7aef\u8a13\u7df4\u8ca0\u64d4<\/li>\n<li>\u652f\u63f4\u591a\u7a2e embodiment\uff0c\u4e0d\u9650\u55ae\u4e00\u593e\u722a\u6216\u624b\u578b<\/li>\n<li>\u516c\u958b 2.56M grasp dataset\uff0c\u88dc\u8db3\u591a embodiment \u8a13\u7df4\u8cc7\u6e90<\/li>\n<li>\u6a21\u64ec\u6210\u529f\u7387\u9054 72%\uff0c\u771f\u5be6\u74b0\u5883\u6293\u53d6\u5be6\u9a57\u9054 78%<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u5c0d\u6a5f\u68b0\u4eba\u64cd\u4f5c\u3001\u8a9e\u8a00\u4ecb\u9762\u540c grasp planning \u6709\u8208\u8da3\u7684\u8b80\u8005\uff0c\u6703\u8f03\u5bb9\u6613\u611f\u53d7\u5230\u9019\u500b\u9805\u76ee\u7684\u50f9\u503c\uff1a\u5b83\u6c92\u6709\u628a\u6240\u6709\u554f\u984c\u585e\u9032\u540c\u4e00\u500b\u5927\u6a21\u578b\uff0c\u800c\u662f\u7528\u8f03\u7bc0\u5236\u7684\u67b6\u69cb\u8655\u7406\u8a9e\u610f\u8207\u5e7e\u4f55\u4e4b\u9593\u7684\u843d\u5dee\u3002\u73fe\u968e\u6bb5\u91cd\u9ede\u4ecd\u5728\u684c\u9762\u96dc\u4e82\u5834\u666f\u6293\u53d6\uff0c\u4f46\u5b83\u5df2\u7d93\u5c55\u793a\u51fa\u591a embodiment \u64f4\u5c55\u540c\u8cc7\u6599\u6548\u7387\u4e0a\u7684\u5be6\u7528\u65b9\u5411\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/uoft-isl.github.io\/seeded-grasp\/\" rel=\"noopener noreferrer\"><strong>\u9805\u76ee\u4e3b\u9801<\/strong><\/a> \u00b7 <a href=\"https:\/\/arxiv.org\/pdf\/2607.20207\" rel=\"noopener noreferrer\"><strong>Paper<\/strong><\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u9762\u5c0d\u4e00\u5806\u64fa\u5f97\u4e82\u7684\u7269\u4ef6\uff0c\u53ea\u7528\u4e00\u53e5\u6587\u5b57\u6307\u4ee4\u5c31\u80fd\u5e6b\u6a5f\u68b0\u4eba\u63c0\u4e2d\u76ee\u6a19\u3002SeededGrasp\u628a\u8a9e\u610f\u7406\u89e3\u540c\u6293\u53d6\u52d5\u4f5c\u62c6\u958b\u8655\u7406\uff0c\u4ee4\u591a\u7a2e\u593e\u722a\u66f4\u6613\u843d\u5730\u3002<\/p>\n","protected":false},"author":8,"featured_media":10412,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"ai_generated_summary":"","footnotes":""},"categories":[178,132,119,127,149,184,197,199],"tags":[],"class_list":["post-10413","post","type-post","status-publish","format-standard","hentry","category-google","category-3d","category-119","category-127","category-149","category-robotic","category-framework","category-dataset-"],"_links":{"self":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/10413","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/users\/8"}],"replies":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/comments?post=10413"}],"version-history":[{"count":0,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/posts\/10413\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media\/10412"}],"wp:attachment":[{"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/media?parent=10413"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/categories?post=10413"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/infernews.com\/blog\/wp-json\/wp\/v2\/tags?post=10413"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}