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simmediumroboticsmetric · varies
SuperGrasp: Single-View Object Grasping via Superquadric Similarity Matching, Evaluation, and Refinement
Description
Robotic grasping from single-view observations remains a critical challenge in manipulation. Existing methods still struggle to generate stable and valid grasp poses when confronted with incomplete geometric information. To address these limitations, we propose SuperGrasp, a novel two-stage framework for single-view grasping with parallel-jaw grippers that decomposes the grasping process into initial grasp pose generation and subsequent grasp evaluation and refinement. In the first stage, we int