Zhejian Zhang

Geometry-Aware 6-DoF Grasp Learning From Stacked Point Clouds in Unstructured Scenes

To address the challenge of robust 6-DoF grasp prediction in cluttered, unstructured environments, this paper proposes a geometry-aware two-stage grasping framework. First, a plug-and-play Structural Edge-aware Keypoint Extractor is introduced to selectively retain salient edge geometry while mitiga