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arXiv · 2606.18053

A Hybrid Optimization Framework for Grasp Synthesis under Partial Observations

Wenzheng Zhang·Fahira Afzal Maken·Tin Lai·Fabio Ramos
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Abstract

We propose a hybrid grasp synthesis framework that combines a learning-based Energy-Based Model (EBM) with an analytical Iterative Closest Point (ICP) method to generate robust grasps from partially observed point clouds. The learned energy function acts as a prior within a Stein Variational Gradient Descent (SVGD) framework, guiding iterative refinement of grasp configurations. Evaluated on 67 objects with 5,360 grasp attempts, our method achieves an average success rate of 60.9\%, outperforming AnyGrasp (31.1\%) and Grasp Pose Detection (48.4\%) and AS-ICP (56.6\%). These results highlight the strong generalization ability of our approach and demonstrate how combining data-driven learning with geometric optimization addresses the limitations of either strategy in isolation.

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Wenzheng Zhang, Fahira Afzal Maken, Tin Lai, Fabio Ramos. 2026-06-16. A Hybrid Optimization Framework for Grasp Synthesis under Partial Observations. https://arxiv.org/abs/2606.18053

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