arxivcs.RO2026-07-31
TransGraspNet: Physically and Geometrically Consistent Manipulation of Transparent Labware
Hailing Hu, Mingyi Zhu, Yiquan An, Yifei Tian, Tianyou Zuo, Lifeng Zhou
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 exist…