@article{claspclosedloopasynchronousspatialpercep,
  title = {CLASP: Closed-loop Asynchronous Spatial Perception for Open-vocabulary Desktop Object Grasping},
  author = {Yiran Ling and Wenxuan Li and Siying Dong and Yize Zhang and Xiaoyao Huang and Jing Jiang and Ruonan Li and Jie Liu},
  year = {2026},
  eprint = {2604.11320},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.11320},
}