# Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control

arXiv: https://arxiv.org/abs/2509.06201 · HTML: https://mlsanity.com/paper/2509.06201/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 45 of its 57 references that are in the map.
- First posted on arXiv 7 Sep 2025.

## Builds on (most cited first, 30 of 45)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection](https://mlsanity.com/paper/2303.05499/) (2023)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Conservative Q-Learning for Offline Reinforcement Learning](https://mlsanity.com/paper/2006.04779/) (2020)
- [DINO: DETR with Improved DeNoising Anchor Boxes for End-to-End Object Detection](https://mlsanity.com/paper/2203.03605/) (2022)
- [Offline Reinforcement Learning with Implicit Q-Learning](https://mlsanity.com/paper/2110.06169/) (2021)
- [Learning Latent Dynamics for Planning from Pixels](https://mlsanity.com/paper/1811.04551/) (2018)
- [Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning](https://mlsanity.com/paper/2108.10470/) (2021)
- [Advantage-Weighted Regression: Simple and Scalable Off-Policy Reinforcement Learning](https://mlsanity.com/paper/1910.00177/) (2019)
- [Objaverse-XL: A Universe of 10M+ 3D Objects](https://mlsanity.com/paper/2307.05663/) (2023)
- [QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/1806.10293/) (2018)
- [Temporal Difference Learning for Model Predictive Control](https://mlsanity.com/paper/2203.04955/) (2022)
- [Deep Visual Foresight for Planning Robot Motion](https://mlsanity.com/paper/1610.00696/) (2016)
- [Embed to Control: A Locally Linear Latent Dynamics Model for Control from Raw Images](https://mlsanity.com/paper/1506.07365/) (2015)
- [6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](https://mlsanity.com/paper/1905.10520/) (2019)
- [Visual Foresight: Model-Based Deep Reinforcement Learning for Vision-Based Robotic Control](https://mlsanity.com/paper/1812.00568/) (2018)
- [Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes](https://mlsanity.com/paper/2103.14127/) (2021)
- [AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains](https://mlsanity.com/paper/2212.08333/) (2022)
- [Segment and Track Anything](https://mlsanity.com/paper/2305.06558/) (2023)
- [ACRONYM: A Large-Scale Grasp Dataset Based on Simulation](https://mlsanity.com/paper/2011.09584/) (2020)
- [Plan Online, Learn Offline: Efficient Learning and Exploration via Model-Based Control](https://mlsanity.com/paper/1811.01848/) (2018)
- [Adversarially Trained Actor Critic for Offline Reinforcement Learning](https://mlsanity.com/paper/2202.02446/) (2022)
- [Grasping in the Wild:Learning 6DoF Closed-Loop Grasping from Low-Cost Demonstrations](https://mlsanity.com/paper/1912.04344/) (2019)
- [Is Value Learning Really the Main Bottleneck in Offline RL?](https://mlsanity.com/paper/2406.09329/) (2024)
- [Imitating Task and Motion Planning with Visuomotor Transformers](https://mlsanity.com/paper/2305.16309/) (2023)
- [cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation](https://mlsanity.com/paper/2310.17274/) (2023)
- [SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment](https://mlsanity.com/paper/2410.18907/) (2024)
- [STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation](https://mlsanity.com/paper/2104.13542/) (2021)
- [From Pixels to Torques: Policy Learning with Deep Dynamical Models](https://mlsanity.com/paper/1502.02251/) (2015)

## Built on by (most cited first, 1 of 1)

- [Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications](https://mlsanity.com/paper/2510.07077/) (2025)

## Abstract (arXiv)

Grasping of diverse objects in unstructured environments remains a significant challenge. Open-loop grasping methods, effective in controlled settings, struggle in cluttered environments. Grasp prediction errors and object pose changes during grasping are the main causes of failure. In contrast, closed-loop methods address these challenges in simplified settings (e.g., single object on a table) on a limited set of objects, with no path to generalization. We propose Grasp-MPC, a closed-loop 6-DoF vision-based grasping policy designed for robust and reactive grasping of novel objects in cluttered environments. Grasp-MPC incorporates a value function, trained on visual observations from a large-scale synthetic dataset of 2 million grasp trajectories that include successful and failed attempts. We deploy this learned value function in an MPC framework in combination with other cost terms that encourage collision avoidance and smooth execution. We evaluate Grasp-MPC on FetchBench and real-world settings across diverse environments. Grasp-MPC improves grasp success rates by up to 32.6% in simulation and 33.3% in real-world noisy conditions, outperforming open-loop, diffusion policy, transformer policy, and IQL approaches. Videos and more at http://grasp-mpc.github.io.