Author

Daniel J. Evans

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Preprint Sep 2026

GraspTwin: Zero-Shot Task-Oriented Grasp Optimization via a Digital Twin

This work construct a digital twin of the environment, query a large foundation model to propose grasps that align with the object's affordances and task description, and then optimize the proposals to ensure robustness and plausibility before executing the result on the real robot.

Daniel J. Evans, Yin-Long Dai, Simon Stepputtis et al. · 0 citations