外观
论文arXiv 2609.290651 个月前
DA-GRD：面向感知到执行不匹配下触觉恢复的决策感知抓取相关消歧
原文链接：DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches（arXiv 2609.29065 · 发布日期：2026-09-24）
DA-GRD: Decision-Aware Grasp-Relevant Disambiguation for tactile recovery under perception-to-execution mismatches
针对视觉抓取因物体移动而失效的问题，DA-GRD用稀疏触觉探测维护平面信念，并在MuJoCo和真实物体上验证。
核心要点
- 研究视觉生成抓取在执行前因物体移动变旧、且无后续视觉观测时的位姿恢复。
- DA-GRD维护可能物体配置的加权平面信念，按消除假设和提升候选抓取一致性选择触觉探测。
- 方法不追求完整重定位，而在剩余假设支持共同可执行抓取时停止。
- 仿真与真实实验显示，该方法在较少触觉探测下提升物理抓取和任务条件成功率。
验证范围与局限：验证范围包括MuJoCo中10个刚体物体（平移至5 cm、偏航至±45°）和真实世界6个物体。
英文摘要 (Abstract)
Grasping is a fundamental robotic capability that bridges perception and physical task execution. This paper studies grasp pose recovery under a perception-to-execution mismatch, where a grasp generated from visual perception may become spatially stale if the object moves before execution, using only sparse tactile interactions and no further visual observations. We propose DA-GRD, Decision-Aware Grasp-Relevant Disambiguation, which maintains a weighted planar belief over possible object configurations and selects tactile probes according to their ability to eliminate hypotheses and improve agreement among candidate task grasps. Rather than fully relocalizing the object, DA-GRD stops when the remaining hypotheses support a common executable grasp. In MuJoCo experiments on ten rigid objects with translations up to 5~cm and yaw perturbations up to $\pm45^\circ$, DA-GRD achieves an 84.7% physical lift success rate, compared with 9.1% for stale AnyGrasp, 21.2% for the original fix-scan baseline, and 63.7% for fix-scan method adapted with an SE(2) belief. DA-GRD also achieves a 57.3% Task conditioned Success rate. Across objects, it uses a success-average of 4.13 tactile probes over the ten per-object means, corresponding to a 72.5% reduction relative to the fixed 15-probe baselines. Real-world experiments on six objects achieve 71.7% physical lift success and 38.3% task-conditioned success with 4.20 probes on average. These results show that tactile sensing can recover task-relevant grasps under vision-off conditions with limited physical interaction, without requiring complete object localization.
作者：Haoran Wang, Yuteng Sun, Yuanjie Li, Ruofei Bai, Meng Yee Chuah, Chuah, Wenyu Liang, Jun Li, Wei Yun Yau
来源
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