Preprint
Sep 2026
Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes
Task-oriented grasping (TOG) requires robots to grasp functional parts of objects (e.g., the handle of a mug for pouring), yet these affordance regions are frequently occluded in cluttered scenes. Active perception via next-best-view (NBV) planning can resolve such occlusions by moving the camera for more informative o...
Jing-Zhi Cui, Xuefeng Liu, Feng Han et al.
· 0 citations