{"ID":2877067,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.20547","arxiv_id":"2508.20547","title":"SPGrasp: Spatiotemporal Prompt-driven Grasp Synthesis in Dynamic Scenes","abstract":"Real-time interactive grasp synthesis for dynamic objects remains challenging as existing methods fail to achieve low-latency inference while maintaining promptability. To bridge this gap, we propose SPGrasp (spatiotemporal prompt-driven dynamic grasp synthesis), a novel framework extending segment anything model v2 (SAMv2) for video stream grasp estimation. Our core innovation integrates user prompts with spatiotemporal context, enabling real-time interaction with end-to-end latency as low as 59 ms while ensuring temporal consistency for dynamic objects. In benchmark evaluations, SPGrasp achieves instance-level grasp accuracies of 90.6% on OCID and 93.8% on Jacquard. On the challenging GraspNet-1Billion dataset under continuous tracking, SPGrasp achieves 92.0% accuracy with 73.1 ms per-frame latency, representing a 58.5% reduction compared to the prior state-of-the-art promptable method RoG-SAM while maintaining competitive accuracy. Real-world experiments involving 13 moving objects demonstrate a 94.8% success rate in interactive grasping scenarios. These results confirm SPGrasp effectively resolves the latency-interactivity trade-off in dynamic grasp synthesis.","short_abstract":"Real-time interactive grasp synthesis for dynamic objects remains challenging as existing methods fail to achieve low-latency inference while maintaining promptability. To bridge this gap, we propose SPGrasp (spatiotemporal prompt-driven dynamic grasp synthesis), a novel framework extending segment anything model v2 (S...","url_abs":"https://arxiv.org/abs/2508.20547","url_pdf":"https://arxiv.org/pdf/2508.20547v2","authors":"[\"Yunpeng Mei\",\"Hongjie Cao\",\"Yinqiu Xia\",\"Wei Xiao\",\"Zhaohan Feng\",\"Gang Wang\",\"Jie Chen\"]","published":"2025-08-28T08:38:50Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\",\"cs.CV\"]","methods":"[]","has_code":false}