Cover Image

OPG-Policy: Occluded Push-Grasp Policy Learning with Amodal Segmentation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Ding, Hao, Zeng, Yiming, Wan, Zhaoliang, Cheng, Hui
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

MPGNet: Learning Move-Push-Grasping Synergy for Target-Oriented Grasping in Occluded Scenes
by: Li, Dayou, et al.
Published: (2024)

Learning to Push, Group, and Grasp: A Diffusion Policy Approach for Multi-Object Delivery
by: Yonemaru, Takahiro, et al.
Published: (2025)

Push-Grasp Policy Learning Using Equivariant Models and Grasp Score Optimization
by: Hu, Boce, et al.
Published: (2025)

Self-Supervised Learning for Joint Pushing and Grasping Policies in Highly Cluttered Environments
by: Wang, Yongliang, et al.
Published: (2022)

Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models
by: Ren, Hao, et al.
Published: (2025)

STRNet: Visual Navigation with Spatio-Temporal Representation through Dynamic Graph Aggregation
by: Ren, Hao, et al.
Published: (2026)

Leveraging Extrinsic Dexterity for Occluded Grasping on Grasp Constraining Walls
by: Kobashi, Keita, et al.
Published: (2025)

UNCLE-Grasp: Uncertainty-Aware Grasping of Leaf-Occluded Strawberries
by: Mansour, Malak, et al.
Published: (2026)

COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping
by: Yamada, Jun, et al.
Published: (2025)

GoalGrasp: Grasping Goals in Partially Occluded Scenarios without Grasp Training
by: Gui, Shun, et al.
Published: (2024)

Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy
by: Wu, Tianhao, et al.
Published: (2024)

RAPID Hand Prototype: Design of an Affordable, Fully-Actuated Biomimetic Hand for Dexterous Teleoperation
by: Wan, Zhaoliang, et al.
Published: (2025)

Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control
by: Ren, Hao, et al.
Published: (2026)

Grasp Anything: Combining Teacher-Augmented Policy Gradient Learning with Instance Segmentation to Grasp Arbitrary Objects
by: Mosbach, Malte, et al.
Published: (2024)

Learning Dual-Arm Push and Grasp Synergy in Dense Clutter
by: Wang, Yongliang, et al.
Published: (2024)

DeliGrasp: Inferring Object Properties with LLMs for Adaptive Grasp Policies
by: Xie, William, et al.
Published: (2024)

Multimodal Adversarial Quality Policy for Safe Grasping
by: Xie, Kunlin, et al.
Published: (2026)

UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping
by: Wang, Wenbo, et al.
Published: (2024)

Learning Cross-hand Policies for High-DOF Reaching and Grasping
by: She, Qijin, et al.
Published: (2024)

RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy
by: Wan, Zhaoliang, et al.
Published: (2025)

Collision-Inclusive Manipulation Planning for Occluded Object Grasping via Compliant Robot Motions
by: Ren, Kejia, et al.
Published: (2024)

Learning Stable Robot Grasping with Transformer-based Tactile Control Policies
by: Puang, En Yen, et al.
Published: (2024)

DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments
by: Xu, Lixin, et al.
Published: (2025)

dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes
by: Sóti, Gergely, et al.
Published: (2024)

Visual Prompt Guided Unified Pushing Policy
by: Bui, Hieu, et al.
Published: (2026)

Pyramid-Monozone Synergistic Grasping Policy in Dense Clutter
by: Li, Chenghao, et al.
Published: (2024)

Sim-Grasp: Learning 6-DOF Grasp Policies for Cluttered Environments Using a Synthetic Benchmark
by: Li, Juncheng, et al.
Published: (2024)

Spatial RoboGrasp: Generalized Robotic Grasping Control Policy
by: Huang, Yiqi, et al.
Published: (2025)

RoboGrasp: A Universal Grasping Policy for Robust Robotic Control
by: Huang, Yiqi, et al.
Published: (2025)

GraspLDP: Towards Generalizable Grasping Policy via Latent Diffusion
by: Xiang, Enda, et al.
Published: (2026)

A Point Cloud Completion Approach for the Grasping of Partially Occluded Objects and Its Applications in Robotic Strawberry Harvesting
by: Abouzeid, Ali, et al.
Published: (2025)

End-to-end RL Improves Dexterous Grasping Policies
by: Singh, Ritvik, et al.
Published: (2025)

Grasping by Hanging: a Learning-Free Grasping Detection Method for Previously Unseen Objects
by: Li, Wanze, et al.
Published: (2024)

DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands
by: Singh, Ritvik, et al.
Published: (2024)

LVDiffusor: Distilling Functional Rearrangement Priors from Large Models into Diffusor
by: Zeng, Yiming, et al.
Published: (2023)

ViTA-Seg: Vision Transformer for Amodal Segmentation in Robotics
by: Caramia, Donato, et al.
Published: (2025)

GAPG: Geometry Aware Push-Grasping Synergy for Goal-Oriented Manipulation in Clutter
by: Xiao, Lijingze, et al.
Published: (2026)

Grasping Partially Occluded Objects Using Autoencoder-Based Point Cloud Inpainting
by: Koebler, Alexander, et al.
Published: (2025)

Quality-focused Active Adversarial Policy for Safe Grasping in Human-Robot Interaction
by: Li, Chenghao, et al.
Published: (2025)

23 DoF Grasping Policies from a Raw Point Cloud
by: Matak, Martin, et al.
Published: (2024)