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Robot Dexterous Grasping in Cluttered Scenes Based on Single-View Point Cloud

文献类型： 外文期刊

作者： Zhao, Qingxing 1 ; Zheng, Minhua 1 ; Li, Zhaoxin 3 ; Huang, Shichang 1 ; Shi, Wen 4 ;

作者机构： 1.Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China

2.Minist Educ, Key Lab Vehicle Adv Mfg Measuring & Control Techno, Beijing 100044, Peoples R China

3.Chinese Acad Agr Sci, Agr Informat Inst, Beijing 100081, Peoples R China

4.Chinese Acad Sci, Aerosp Informat Res Inst, Beijing 100094, Peoples R China

关键词： Grasping; Point cloud compression; 6-DOF; Vectors; Feature extraction; Measurement; Robustness; Grippers; Force; Training; Grasping pose detection; point cloud; 6-DoF grasping; self-attention

期刊名称：IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING （ 影响因子：6.4； 五年影响因子：7.0 ）

ISSN： 1545-5955

年卷期： 2025 年 22 卷

页码：

收录情况： SCI

摘要： Grasping is a basic but challenging task in intelligent robotic manipulation, and grasping pose detection is the key in this task. Most current work is shifting from 2D planar grasping to more flexible six-degree-of-freedom (6-DoF) grasping, and some significant progress has been made. However, there are still limitations such as low success rate and poor robustness in cluttered scenes. In this paper, we investigate 6-DoF grasping in cluttered scenes, and propose a cascaded multi-target learning network based on self-attention mechanism and multiscale sampling. The self-attention mechanism effectively improves the network's attention to the correct grasping pose, while multiscale sampling improves the network's adaptability to grasping objects of different sizes. In addition, we propose a dual-objective evaluation metric based on the force-closure metric and the center-of-mass distance metric, which can make a more reasonable and reliable evaluation of the grasping poses in the dataset. Our model is evaluated on large-scale benchmarks as well as the real robot system. The proposed method achieves state-of-the-art results on GraspNet-1Billion (8.8+AP), and shows 95.24% success rates in real cluttered scenes. Note to Practitioners-This paper presents a framework for 6-DoF grasping in cluttered scenes using single-view point clouds, improving success rates without requiring complete point clouds. By introducing a self-attention mechanism and multiscale sampling, the model adapts to varying object sizes and enhances focus on the correct grasping pose. A dual-objective evaluation metric based on force-closure and center-of-mass distance also refines dataset quality, balancing force and geometric criteria for more reliable grasping poses. This approach supports direct deployment in real-world robotic applications like automated sorting and assembly, with high robustness and efficiency in cluttered environments.

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