Multi-hand semantic grasp generation aims to generate feasible and semantically appropriate grasp poses for different robotic hands based on natural language instructions. Although the task is highly valuable, due to the lack of multi-hand grasp datasets with fine-grained contact description between robotic hands and objects, it is still a long-standing difficult task. In this paper, we present Multi-GraspSet, the first large-scale multi-hand grasp dataset with automatically contact annotations. Based on Multi-GraspSet, we propose Multi-GraspLLM, a unified language-guided grasp generation framework. It leverages large language models (LLM) to handle variable-length sequences, generating grasp poses for diverse robotic hands in a single unified architecture. Multi-GraspLLM first aligns the encoded point cloud features and text features into a unified semantic space. It then generates grasp bin tokens which are subsequently converted into grasp pose for each robotic hand via hand-aware linear mapping. The experimental results demonstrate that our approach significantly outperforms existing methods on Multi-GraspSet. More information can be found on our project page https://multi-graspllm.github.io.

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a training-free framework that incorporates both semantic and geometric priors for zero-shot task-oriented grasp generation. The proposed framework, SegGrasp, first leverages the vision-language models like GLIP for coarse segmentation. It then uses detailed geometric information from convex decomposition to improve segmentation quality through a fusion policy named GeoFusion. An effective grasp pose can be generated by a grasping network with improved segmentation. We conducted the experiments on both segmentation benchmark and real-world robot grasping. The experimental results show that SegGrasp surpasses the baseline by more than 15\% in grasp and segmentation performance.

Weakly supervised text classification (WSTC), also called zero-shot or dataless text classification, has attracted increasing attention due to its applicability in classifying a mass of texts within the dynamic and open Web environment, since it requires only a limited set of seed words (label names) for each category instead of labeled data. With the help of recently popular prompting Pre-trained Language Models (PLMs), many studies leveraged manually crafted and/or automatically identified verbalizers to estimate the likelihood of categories, but they failed to differentiate the effects of these category-indicative words, let alone capture their correlations and realize adaptive adjustments according to the unlabeled corpus. In this paper, in order to let the PLM effectively understand each category, we at first propose a novel form of rule-based knowledge using logical expressions to characterize the meanings of categories. Then, we develop a prompting PLM-based approach named RulePrompt for the WSTC task, consisting of a rule mining module and a rule-enhanced pseudo label generation module, plus a self-supervised fine-tuning module to make the PLM align with this task. Within this framework, the inaccurate pseudo labels assigned to texts and the imprecise logical rules associated with categories mutually enhance each other in an alternative manner. That establishes a self-iterative closed loop of knowledge (rule) acquisition and utilization, with seed words serving as the starting point. Extensive experiments validate the effectiveness and robustness of our approach, which markedly outperforms state-of-the-art weakly supervised methods. What is more, our approach yields interpretable category rules, proving its advantage in disambiguating easily-confused categories.