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

arXiv:2609.19946 · cs.RO · Submitted 2026-09-17 · Read on arXiv

cs.RO

Submitted: 2026-09-17

Updated: 2026-09-17

Code: https://github.com/isaac-sim/IsaacSim

Terminology

• Accuracy — 5× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Cross-Embodiment Transfer — 4× in this paper · explained in 2 episodes
• AUROC — 3× in this paper · explained in 2 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Point Clouds — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Embeddings — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Learning to Regrasp by Learning to Place
• Dex4D: Task-Agnostic Point Track Policy for Sim-to-Real Dexterous Manipulation

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