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GAPG: Geometry Aware Push-Grasping Synergy for Goal-Oriented Manipulation in ClutterGAPG:面向杂乱环境目标导向操作的几何感知推-抓协同
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GAPG Authors
2026年03月22日
arXiv: 2603.21195v1

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摘要 / Abstract

Grasping target objects is a fundamental skill for robotic manipulation, but in cluttered environments with stacked or occluded objects, a single-step grasp is often insufficient. This paper proposes a geometry-aware push-grasp synergy framework that leverages point cloud data to integrate grasp and push evaluation. The grasp evaluation module analyzes the geometric relationship between the gripper's point cloud and the points enclosed within its closing region to determine grasp feasibility and stability. Guided by this analysis, the push evaluation module predicts how pushing actions influence future graspable space, enabling the robot to effectively manipulate objects in complex cluttered scenarios.

本文提出一种几何感知的推-抓协同框架,利用点云数据整合抓取与推动评估。抓取评估模块分析夹爪点云与其闭合区域内点之间的几何关系,以确定抓取的可行性与稳定性。在此引导下,推动评估模块预测推动动作对后续可抓取空间的影响,使机器人能够有效应对复杂杂乱场景中的物体操作。

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