Seg2Grasp: A Robust Modular Suction Grasping Pipeline for Bin Picking
Seg2Grasp is a modular pipeline for suction-based grasping in cluttered bin picking scenarios. It combines a Transformer-based segmentation module, surface normal-based grasp planning, and open-vocabulary classification using Mask-CLIP. Real-world experiments indicate that Seg2Grasp achieves higher success rates and greater adaptability compared to existing methods.
Why it matters: This work demonstrates a significant advance in robotic bin picking by introducing a modular approach that improves robustness and adaptability over end-to-end learning methods.
Full story at: arXiv Robotics ↗