Connectivity-Aware Exploration of Robotic Grasp Spaces
Robotic grasping is typically formulated as the problem of identifying successful actions from a space of candidate grasp poses. However, the organization of successful actions within this space has received less attention. We study the multiscale structure of viable robotic grasps in $SE(3)$ and investigate whether this structure can be exploited for more efficient exploration. Using a large-scale grasp dataset, we show that successful grasp sets exhibit heterogeneous and reproducible connectivity structure across objects. We then introduce a connectivity-aware sampling strategy that incrementally explores the currently observed grasp space by prioritizing potential bridges between compo...
| Authors | Maksim A Kazanskii |
|---|---|
| Primary category | cs.RO |
| Published | 19 September 2026 |
| Last updated at source | 19 September 2026 |
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