TransGraspNet: Physically and Geometrically Consistent Manipulation of Transparent Labware

arXiv:2607.29567v1 Announce Type: new Abstract: 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,...