DeViGrasp: Robust Visual Mobile Grasping for Quadruped Manipulators under Degraded Perception

arXiv:2609.22278 · cs.RO · Submitted 2026-09-12 · Read on arXiv

cs.RO

Submitted: 2026-09-12

Updated: 2026-09-12

Terminology

• Benchmark — 26× in this paper · explained in 2 episodes
• Robustness — 11× in this paper · explained in 5 episodes
• Generalization — 10× in this paper · explained in 13 episodes
• Success Rate — 9× in this paper
• Ablation — 8× in this paper · explained in 1 episode
• Target Hold Memory — 7× in this paper
• Temporal Memory Attention — 6× in this paper
• Benchmarking — 4× in this paper · explained in 3 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Embeddings — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Average Episode Steps — 1× in this paper
• Average Steps to Success — 1× in this paper
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Point Clouds — 1× in this paper · explained in 2 episodes

Sources

• THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation
• A Transferable Legged Mobile Manipulation Framework Based on Disturbance Predictive Control

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