# Optimizing Grasping in Legged Robots: A Deep Learning Approach to Loco-Manipulation

arXiv: https://arxiv.org/abs/2508.17466 · HTML: https://mlsanity.com/paper/2508.17466/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 16 references that are in the map.
- First posted on arXiv 24 Aug 2025.

## Builds on (most cited first, 3 of 3)

- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach](https://mlsanity.com/paper/1804.05172/) (2018)
- [Simultaneous Multi-View Object Recognition and Grasping in Open-Ended Domains](https://mlsanity.com/paper/2106.01866/) (2021)

## Abstract (arXiv)

This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that minimizes reliance on physical data collection. We developed a pipeline within the Genesis simulation environment to generate a synthetic dataset of grasp attempts on common objects. By simulating thousands of interactions from various perspectives, we created pixel-wise annotated grasp-quality maps to serve as the ground truth for our model. This dataset was used to train a custom CNN with a U-Net-like architecture that processes multi-modal input from an onboard RGB and depth cameras, including RGB images, depth maps, segmentation masks, and surface normal maps. The trained model outputs a grasp-quality heatmap to identify the optimal grasp point. We validated the complete framework on a four-legged robot. The system successfully executed a full loco-manipulation task: autonomously navigating to a target object, perceiving it with its sensors, predicting the optimal grasp pose using our model, and performing a precise grasp. This work proves that leveraging simulated training with advanced sensing offers a scalable and effective solution for object handling.