Grasping by interconnection: robust closing motions from coarse object templates

arXiv:2609.19228 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/Cambridge-Control-Lab/VMRobotControl.jl

Terminology

• Robustness — 15× in this paper · explained in 5 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• 6D Object Pose Estimation — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptive Planning — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Domain Shift — 1× in this paper · explained in 4 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation
• Get a Grip: Multi-Finger Grasp Evaluation at Scale Enables Robust Sim-to-Real Transfer

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