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simmediumgraspingmetric · varies
A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning
Description
Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have led to benchmark solutions such as GraspNet-1Billion. However, such learning-based approaches still face a critical limitation in performance robustness for their sensitivity to sensing noise and environmental changes. To address this bottleneck in achieving highly generalized grasping, we abandon the traditional learni