{"paper":{"title":"TransGraspNet: Physically and Geometrically Consistent Manipulation of Transparent Labware","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hailing Hu, Lifeng Zhou, Mingyi Zhu, Tianyou Zuo, Yifei Tian, Yiquan An","submitted_at":"2026-07-31T15:55:45Z","abstract_excerpt":"Manipulating transparent laboratory glassware that contains liquid is inherently safety-critical: even small geometric errors can cause unstable grasps and hazardous spillage. Although recent progress has been made in transparent object perception and robotic grasping, most existing systems optimize detection, depth reconstruction, and grasp planning independently, which leads to cross-stage inconsistency imperfect boundaries induce depth bleeding, distorted surfaces corrupt normal estimation, and task agnostic grasp scoring yields tilted or off-center grasps that fail under dynamic motion. In"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.29567","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.29567/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}