CAPGrasp is a new method for improving how robots grasp objects. It helps robots pick up things more efficiently and accurately, especially in tight spaces. By using a smart learning technique, CAPGrasp doesn't need huge amounts of labeled data to work well. It also refines the way robots grab objects, making their movements smoother and more successful. Tests show that CAPGrasp is three times better at picking up objects than other methods and can improve grasp success rates by up to 38%. It's a great solution for robots that need to grab things from specific directions, like in small or crowded areas.