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Autonomous robot grasping in multi-object scenarios poses significant challenges, requiring precise grasp candidate detection, determination of object-grasp affiliations. To solve these challenges, this research presents a novel approach to address these challenges by developing a dedicated grasp detection model called GraspAnything, which is extended from SegmentAnything model. The GraspAnything model, based on SegmentAnything (SAM) model, receives bounding boxes as prompts and simultaneously outputs the mask of objects and all possible grasp poses for parallel jaw gripper. A grasp decoder module is added to the SAM model to enable grasp detection functionality. Experiment results have demonstrate the effectiveness of our model in grasp detection tasks. The implications of this research extend to various industrial applications, such as object picking and sorting, where intelligent robot grasping can significantly enhance efficiency and automation. The developed models and approaches contribute to the advancement of autonomous robot grasping in complex, multi-object environments.

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SegmentAnything-Based Approach to Scene Understanding and Grasp Generation

  • 会议论文

  • 发表日期：

    2025年

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  • Songting Liu,
  • Zhezhi Lei,
  • Haiyue Zhu,
  • Jun Ma,
  • Zhiping Lin

摘要

Autonomous robot grasping in multi-object scenarios poses significant challenges, requiring precise grasp candidate detection, determination of object-grasp affiliations. To solve these challenges, this research presents a novel approach to address these challenges by developing a dedicated grasp detection model called GraspAnything, which is extended from SegmentAnything model. The GraspAnything model, based on SegmentAnything (SAM) model, receives bounding boxes as prompts and simultaneously outputs the mask of objects and all possible grasp poses for parallel jaw gripper. A grasp decoder module is added to the SAM model to enable grasp detection functionality. Experiment results have demonstrate the effectiveness of our model in grasp detection tasks. The implications of this research extend to various industrial applications, such as object picking and sorting, where intelligent robot grasping can significantly enhance efficiency and automation. The developed models and approaches contribute to the advancement of autonomous robot grasping in complex, multi-object environments.