# 面向抓取条件化机器人放置的执行感知预执行排序

> 原文链接：https://robotics.hellobike.com/papers/2026-09-17-2609-19946
> 频道：papers | 更新日期：2026-09-17 | 标签：arxiv, cs.RO
> 核心摘要：该工作将放置建模为预执行排序，结合点云与位姿描述符，在30物体、1235场景数据和xArm7/MoveIt迁移上验证。

# 面向抓取条件化机器人放置的执行感知预执行排序

::: v-pre
> 原文链接：[Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement](https://arxiv.org/abs/2609.19946)（arXiv 2609.19946 · 发布日期：2026-09-17）

**Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement**

该工作将放置建模为预执行排序，结合点云与位姿描述符，在30物体、1235场景数据和xArm7/MoveIt迁移上验证。

## 核心要点

- 几何有效放置会因抓取改变末端位姿、碰撞几何和搬运动作而难以执行。
- 模型融合类型化目标条件点云与三种位姿描述符，层级预测规划与执行成功。
- 场景组留出测试中，三种子Top-1成功率联合选择达85.63%，固定目标达79.84%。
- 冻结迁移到xArm7/MoveIt无需特定重训练，27个锁定案例中13个端到端完成。

**验证范围与局限**：验证范围包括30物体、1235场景数据集，以及xArm7/MoveIt上的27个锁定迁移案例。

## 英文摘要 (Abstract)

A geometrically valid placement can still be difficult to execute because the selected grasp changes the required end-effector pose, collision geometry, and transport motion. Placement is formulated as a pre-execution ranking problem in which supplied grasp-placement candidates are scored before planning. The model combines a typed target-conditioned point cloud with three pose descriptors and hierarchical heads for planning success and execution success conditioned on planning. On a 30-object, 1,235-scene dataset with scene-group-held-out splits, three-seed top-1 success on covered test groups reaches 85.63 +/- 1.08% for joint selection and 79.84 +/- 0.16% for fixed-target ranking. For the designated frozen seed-42 checkpoint, top-1 success improves from 72.84% to 85.78% over full-pool cuMotion for joint ranking and from 59.65% to 79.67% for fixed-target ranking. Frozen transfer to xArm7/MoveIt requires no xArm-specific retraining. Across 27 locked cases, 13 complete end to end (48.15%). Of the 16 cases that pass Top-5 preflight and begin execution, 13 succeed (81.25%). Candidate-level deployment-feasibility prediction reaches 81.25% recall, 85.20% specificity, and 83.23% balanced accuracy.

作者：Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin T. Champion, Richard Dazeley, Akansel Cosgun
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## 原始参考来源 (Sources)

- [arXiv 2609.19946：Execution-Aware Pre-Execution Ranking for Grasp-Conditioned Robotic Placement](https://arxiv.org/abs/2609.19946)