mlsanityData to 14 Oct 2026

Closed-Loop Next-Best-View Planning for Target-Driven Grasping

arXiv 2207.10543 ↗First posted 21 Jul 2022cs.ROcited by 19

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Abstract (arXiv)

Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop next-best-view planner that drives exploration based on occluded object parts. By continuously predicting grasps from an up-to-date scene reconstruction, our policy can decide online to finalize a grasp execution or to adapt the robot's trajectory for further exploration. We show that our reactive approach decreases execution times without loss of grasp success rates compared to common camera placements and handles situations where the fixed baselines fail. Video and code are available at https://github.com/ethz-asl/active_grasp.

Key facts. Cited by 19 papers in the map (data through 14 Oct 2026). First posted on arXiv 21 Jul 2022.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 5; 2025: 7; 2026: 6.

19 papers.

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  1. 2024ICGNet: A Unified Approach for Instance-Centric Graspingcited by 16
  2. 2025VISO-Grasp: Vision-Language Informed Spatial Object-centric 6-DoF Active View Planning and Grasping in Clutter and Invisibilitycited by 11
  3. 2023Active-Perceptive Motion Generation for Mobile Manipulationcited by 10
  4. 2025BFA: Best-Feature-Aware Fusion for Multi-View Fine-grained Manipulationcited by 10
  5. 2026SaPaVe: Towards Active Perception and Manipulation in Vision-Language-Action Models for Roboticscited by 8
  6. 2025Is Single-View Mesh Reconstruction Ready for Robotics?cited by 6
  7. 2026ActiveMimic: Egocentric Video Pretraining with Active Perceptioncited by 6
  8. 2024Observe Then Act: Asynchronous Active Vision-Action Model for Robotic Manipulationcited by 5
  9. 2024Frequency-based View Selection in Gaussian Splatting Reconstructioncited by 4
  10. 2024Optimizing Active Perception for Learning Simultaneous Viewpoint Selection and Manipulation with Diffusion Policycited by 3
  11. 2024Learning to Look: Seeking Information for Decision Making via Policy Factorizationcited by 3
  12. 2025Active 6D Pose Estimation for Textureless Objects using Multi-View RGB Framescited by 3
7 more
  1. 2025DM-OSVP++: One-Shot View Planning Using 3D Diffusion Models for Active RGB-Based Object Reconstructioncited by 2
  2. 2025Observer-Actor: Active Vision Imitation Learning with Sparse-View Gaussian Splattingcited by 2
  3. 2025SDT-6D: Fully Sparse Depth-Transformer for Staged End-to-End 6D Pose Estimation in Industrial Multi-View Bin Pickingcited by 0
  4. 2026Detector Confidence Signals Presence Rather Than Occlusion in Cluttered Manipulationcited by 0
  5. 2026ActiveScale: Scaling Active Perception for Robots across Model, Data, and Hardwarecited by 0
  6. 2026INSPECT: Learning Robot View Selection from Assistant Usecited by 0
  7. 2026Beyond the Current Scene: Event-Referential Grasping with Active View Selectioncited by 0