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We present Agentic RAG-VLM, a unified framework that bridges VLM-based semantic understanding and physically grounded grasp execution by integrating retrieval-augmented generation (RAG) with vision-language models (VLMs) and agentic self-reflective planning. Agentic RAG-VLM introduces three tightly coupled components: (1) a Hierarchical Affordance-Aware RAG (HAA-RAG) that encodes four-dimensional affordance descriptors, including type, material, fragility, and graspable region, and retrieves strategies b","title":"Agentic RAG-VLM: Affordance-Aware Retrieval-Augmented Generation with Self-Reflective Planning for Robotic Grasping","url":"https://arxiv.org/abs/2606.31200","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.31200v1 Announce Type: new \nAbstract: Generalizable robotic grasping in cluttered environments is essential for deploying manipulators in unstructured human spaces, yet existing VLM-based methods rely on visual similarity for object matching, neglecting physical affordances such as handle graspability and material fragility, and operate open-loop without spatial reasoning or failure recovery, limiting their effectiveness when objects are densely packed or physically diverse. We present Agentic RAG-VLM, a unified framework that bridges VLM-based semantic understanding and physically grounded grasp execution by integrating retrieval-augmented generation (RAG) with vision-language models (VLMs) and agentic self-reflective planning. Agentic RAG-VLM introduces three tightly coupled components: (1) a Hierarchical Affordance-Aware RAG (HAA-RAG) that encodes four-dimensional affordance descriptors, including type, material, fragility, and graspable region, and retrieves strategies b","title":"Agentic RAG-VLM: Affordance-Aware Retrieval-Augmented Generation with Self-Reflective Planning for Robotic Grasping","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-01T04:43:38Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.31200"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:22681d59cf43759c826eeb3d70e2da23403ca7478d86f44a17239cf3cb73e8f37a68055806136ebf15003f2af45c2b0ba3aafa95d51b09ce6ccff76480a9f802","signer":"crovia.substrate","subject":{"observed_at":"2026-07-01T04:43:38Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.31200"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"07e8bca158bfc60f7c446172d7a1980fe8dc1c777dcdf294e4ddde99d7a0288b","leaf_index":268422,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"b17cd1958b120eb36ca8b4661c6bad3268591cdc86677c33299262e2d20cb2f2","side":"right"},{"sibling":"3375d6ad2e7ea7153d6940d0d335998a70bbbc32d8747197e5a0f200efe3941e","side":"left"},{"sibling":"803564a1f33ec7f6b2130dcbd8ff833be9e57fee8747ee363f3647b25ed78b73","side":"left"},{"sibling":"45bff8753cb9360aecffbc1fb52f7e202511becf4b175d26d8aa664efe0d1213","side":"right"},{"sibling":"06e1ea354894f0f85620d33d3b002de96fe4d38db90905903976e72e5ab8f305","side":"right"},{"sibling":"a5f39cb9cd952bad791880666a77ed5763ea22e33280c52b10f060a93e4b6cb1","side":"right"},{"sibling":"5ed1e3f2d66ccf2bbb3d9d5c38b28cacec009dfcd5aa53798aeee2d1bd6d11c3","side":"right"},{"sibling":"373441c77391345a6bdd59f6d24909be6fec81e993e9a7050109db1522722b95","side":"left"},{"sibling":"25b5e7b84bfdaf7764d4179af698e218f4b2858d756d4fd6c30f7dc8f562c1b9","side":"right"},{"sibling":"bbd9a20451913e8c7b910f616d5661d9b281a94af70d201ba50b3112d429521b","side":"right"},{"sibling":"85af80e45748c1e0da1e2f42d9d66da8996016888a034f20eb17ff0a73b69eab","side":"right"},{"sibling":"4575fde969d1d9a2984cc01a37ac8441238f74527d42874272dc5582dadebb4f","side":"left"},{"sibling":"f536de281672cbf0b583a3dc46faef1de2823b72bd9265c7b60e889131cc268d","side":"left"},{"sibling":"95b8b0f67237052a17c41fa8cbdce2b79bcb5aeeba3fdb239d4c4497e598115d","side":"right"},{"sibling":"c2f351f771cee329448890504d9436792ba482e50250ca9a19289311131f96c8","side":"right"},{"sibling":"c39bfb2e911ca37ae997690bfc04128ae32e6806ee1cb3908781a7e6685022a0","side":"right"},{"sibling":"a101b4c60ef6854ac3d750eef02d8e2e06c153284b5ecb7111302f97eb129797","side":"right"},{"sibling":"eae2a3de5cb35455ad60125e196cfadaba8a590c53146e95028469f53f70349c","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":268860,"merkle_root":"d098f25810d0569730b6c0e170d57f329a70359d483b47874b5f2fc51d23de65","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260701T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-01T05:38:05Z","sig_algorithm":"ed25519","signature":"64f37f0e3df0556baa55b924a736cab8005643fa0ab65b503f22407de30eab293e6e0bd62904270fda38d05084bb350c8c0d0aadb2c5a6bae5f1c54598e6d30c","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_444828ffd319980678b5ef0ae662a648547fa8215ae69b60a759a9ff38e63a0b"}}