CLARO: Clutter Aware Robot Orchestrator for Open-Vocabulary Grasping using VLM Agents
Robots that follow natural-language instructions unlock a wide range of autonomous applications in households, warehouses, and labs. Real-world environments are diverse and often heavily cluttered, requiring robots to plan over multiple steps, act, and replan as they work toward a goal. We present CLARO (CLutter-Aware Robot Orchestrator), a VLM agent that orchestrates a set of perception and manipulation skills: open-vocabulary object detection, segmentation, 6-DoF grasping, and non-prehensile pushing to locate and retrieve a language-specified target in clutter. CLARO maintains a memory of its past actions to support long-horizon execution, and emits manipulation targets (grasp poses/3D ...
| Authors | Sungsu Kim, Vineet Bhat, Prashanth Krishnamurthy et al. |
|---|---|
| Primary category | cs.RO |
| Published | 16 October 2026 |
| Last updated at source | 16 October 2026 |
Popularity, last 5 days
0 now. Counts as reported by the source, snapshotted daily by Silytics.
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 24 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.