RAGrasp: Geometry-Semantic Template Retrieval and Grasp Transfer

Shenzhe Zhu, Chengxiao He, Jan Harder

We present RAGrasp, a retrieval-augmented pipeline for planar parallel-jaw grasping from a compact set of locally collected, grasp-annotated RGB-D (color and depth) templates. Unlike task-specific predictors trained primarily on large public or synthetic grasp datasets, RAGrasp requires no end-to-end retraining for a new deployment.Its template memory is constructed from observations collected with the deployment camera, robot, and gripper in the target workspace, thereby aligning stored examples with the local sensing and embodiment conditions. The system uses self-supervised DINOv2 visual fea- tures together with appearance and depth cues to prompt the Segment Anything Model 2 (SAM2), which isolates the query object. A two-stage geometry-semantic retrieval cascade then selects a template, and a confidence gate chooses one of two grasp- transfer estimators. The transferred grasp is refined using mask- support and silhouette-contact constraints before calibrated 2D- to-3D conversion. In real-world trials, RAGrasp achieves 20/20 successful grasps on seen objects and 19/20 on unseen objects. Within the evaluated setting, the results demonstrate deployment- specific grasp adaptation…