GraRe: Grasp Candidate Re-Ranking for Frozen 6-DoF Grasp Detectors

Abstract

Existing 6-DoF grasp detectors typically rank grasp candidates by detector confidence. However, our analysis on GraspNet-1Billion shows that detector confidence is often poorly aligned with grasp quality, leaving successful grasp candidates at low ranks. Motivated by this observation, we study whether learned re-ranking can improve candidate ordering while keeping detector parameters and grasp candidates unchanged. We propose GraRe, which estimates grasp quality from candidate attributes, shell-stratified local geometry, and object context. Candidate attributes condition the local geometric and object-context representations, and a Transformer fuses all three feature types. The predicted quality is combined with detector confidence to produce the final ranking. Experiments on GraspNet-1Billion with five frozen detectors show consistent improvements, with gains of up to 13.56 points in Average AP. Real-robot experiments further demonstrate robust grasping in cluttered scenes. These results show that improving candidate ranking provides a practical way to enhance frozen 6-DoF grasp detectors. Project code is available at \href{https://github.com/Minakanmi-Yuki/grare}{\textcolor{grarelink}{\texttt{\textit{https://github.com/Minakanmi-Yuki/grare}}}}.