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simmediumroboticsmetric · varies
GAPG: Geometry Aware Push-Grasping Synergy for Goal-Oriented Manipulation in Clutter
Description
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. To address this, previous work has introduced pushing as an auxiliary action to create graspable space. However, these methods often struggle with both stability and efficiency because they neglect the scene's geometric information, which is essential for evaluating grasp robustness and ensuring that pushing actions ar