FARM creates an open-vocabulary relational spatial memory that improves object retrieval recall by 164-224% over prior methods on 44k language queries across 67 scenes while running at 5-10 Hz.
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
GRASP maps natural language to bounding-box goals via VLM for neuro-symbolic planning and reports 73.3% success in 90 real-robot trials without task-specific training.
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FARM: Find Anything using Relational Spatial Memory
FARM creates an open-vocabulary relational spatial memory that improves object retrieval recall by 164-224% over prior methods on 44k language queries across 67 scenes while running at 5-10 Hz.
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Bounding Boxes as Goals: Language-Conditioned Grasping via Neuro-Symbolic Planning
GRASP maps natural language to bounding-box goals via VLM for neuro-symbolic planning and reports 73.3% success in 90 real-robot trials without task-specific training.