# PartialBiGrasp: A dual-arm grasping framework that infers hidden local geometry from partial views

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/s3e9dj8ufhhev0008eg6rev1n
- Original: https://arxiv.org/abs/2608.19188

## Summary

PartialBiGrasp is a dual-arm grasp generation framework that operates directly on partial point cloud observations. It implicitly learns geometric features through a convolutional occupancy network to reason about graspability, collision-free contact regions, and object thickness. Based on this, the method generates force-closure-compliant grasp pairs and uses sampling-based optimization to correct for ambiguity caused by incomplete geometry. The authors evaluated the method using analytical force-closure metrics, large-scale simulation experiments, and noisy partial point clouds on a real robot.