GRIM: Task-Oriented Grasping with Conditioning on Generative Examples

Task-Oriented Grasping (TOG) presents a significant challenge, requiring a nuanced understanding of task semantics, object affordances, and the functional constraints dictating how an object should be grasped for a specific task. To address these challenges, we introduce GRIM (Grasp Re-alignment via Iterative Matching), a novel training-free framework for task-oriented grasping. Initially, a coarse alignment strategy is developed using a combination of geometric cues and principal component analysis (PCA)-reduced DINO features for similarity scoring. Subsequently, the full grasp pose associated with the retrieved memory instance is transferred to the aligned scene object and further refined against a set of task-agnostic, geometrically stable grasps generated for the scene object, prioritizing task compatibility. In contrast to existing learning-based methods, GRIM demonstrates strong generalization capabilities, achieving robust performance with only a small number of conditioning examples.

@article{shailesh2025_2506.15607,
  title={ GRIM: Task-Oriented Grasping with Conditioning on Generative Examples },
  author={ Shailesh and Alok Raj and Nayan Kumar and Priya Shukla and Andrew Melnik and Micheal Beetz and Gora Chand Nandi },
  journal={arXiv preprint arXiv:2506.15607},
  year={ 2025 }
}