# 通过带三点接口的模块化设计实现可引导和反应式抓取

> 原文链接：https://robotics.hellobike.com/papers/2026-09-21-2609-24896
> 频道：papers | 更新日期：2026-09-21 | 标签：arxiv, cs.RO
> 核心摘要：该框架用三点接口连接几何推理、反应式控制与RL局部反馈，在仿真和硬件演示中验证灵巧抓取。

# 通过带三点接口的模块化设计实现可引导和反应式抓取

::: v-pre
> 原文链接：[Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface](https://arxiv.org/abs/2609.24896)（arXiv 2609.24896 · 发布日期：2026-09-21）

**Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface**

该框架用三点接口连接几何推理、反应式控制与RL局部反馈，在仿真和硬件演示中验证灵巧抓取。

## 核心要点

- 灵巧抓取需决定抓取位置、到达目标并保持稳定接触，框架用紧凑三点接口连接这些阶段。
- 根据物体几何和可选语言指令，从预计算的抓取可供性热图中采样接触三元组。
- 模型式反应控制器跟踪物体、避碰并引导手到接触点，末端RL策略用本体反馈稳定抓取。
- 仿真中对比抓取抬升成功率、刻画到达收敛并展示抓取引导；硬件演示完整流程。

**验证范围与局限**：验证包括仿真，以及在两个训练物体和一个未见物体上的硬件演示。

## 英文摘要 (Abstract)

Dexterous grasping requires deciding where to grasp, reaching the target, and maintaining stable contact. We connect these stages through a compact three-point interface that separates global geometric reasoning from local contact control. Given object geometry and optional language commands, our framework samples contact triples from a precomputed grasp-affordance heatmap. A model-based reactive controller tracks the object, avoids collisions, and guides the hand toward the selected contacts. In the final centimeters, a Reinforcement Learning (RL) policy uses proprioceptive feedback to refine and stabilize the grasp despite reaching and perception errors. It observes only finger joint states and its recent actions, with no target points, visual observations, or object geometry, so a single policy is shared across objects and grasp configurations. In simulation, we compare grasp-and-lift success against squeeze and end-to-end baselines, characterize reaching convergence, and demonstrate grasp steering; hardware demonstrations on two training objects and one unseen object illustrate the full pipeline. Our modular framework uses geometry to guide the reach and local feedback to secure the grasp.

作者：Andrew Nguyen, Yonghyeon Lee, Sangbae Kim
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## 原始参考来源 (Sources)

- [arXiv 2609.24896：Steerable and Reactive Grasping Through Modular Design with a Three-Point Interface](https://arxiv.org/abs/2609.24896)