FIRMGrasp: A Friction-Informed Risk Margin for Robust Grasp Synthesis

arXiv:2607.25049v1 Announce Type: new Abstract: Classical grasp quality metrics assume a single deterministic friction coefficient, so they cannot predict whether a grasp retains force closure across the range of friction values the contacting surfaces may exhibit. To predict these failures, we present FIRMGrasp, a family of friction-volatility-aware grasp quality metrics grounded in the Conditional Value-at-Risk (CVaR) risk measure. Unlike standard grasp quality assessors that assume a single f...