A graspability field learned from synthesized grasps provides a dense reward signal for an RL policy that performs closed-loop non-prehensile manipulation leading to successful grasps.
arXiv preprint arXiv:2511.06240 (2025)
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Grasp-Oriented Non-Prehensile Manipulation via Learning a Graspability Field
A graspability field learned from synthesized grasps provides a dense reward signal for an RL policy that performs closed-loop non-prehensile manipulation leading to successful grasps.