Language-Guided Grasping under Partial Observation for Mobile Manipulation in Field Inspection and Maintenance

原文アブストラクト

Offshore inspection and maintenance have increasingly been using legged robots for routine sensing, yet many useful interventions still require physical interaction with tools, containers, and task-relevant objects. Employing robots for these tasks can reduce operators' exposure in confined, elevated, or potentially explosive areas. This paper presents a language-guided grasping pipeline for a legged mobile manipulator operating under partial observation. An operator defines the target, the system grounds it in RGB with open-vocabulary detection and promptable segmentation, extracts an object-centric RGB-D point cloud, improves sparse geometry through depth compensation and point-cloud completion, and selects a 6-DoF grasp using collision, clearance, reachability, and approach constraints. The system is implemented on a quadruped robot with an arm and evaluated in two cluttered tabletop scenes motivated by small-object retrieval during inspection and maintenance. Across paired trials, the proposed pipeline achieved 9/10 successful grasps, compared with 3/10 for a view-dependent deployment baseline. In this controlled setting, object-centric completion and execution-aware selection reduced approach collisions and improved the reliability of language-guided grasping for supervised field manipulation.