Discussion of Common Causes of Visual Grasping Failures in G1 Humanoid Robots

In a discussion on Reddit r/robotics, a poster listed the common sources of failure in practice for visual grasping by humanoid robots such as the G1: camera depth or pose errors, hand-eye calibration drift or incorrect camera-to-hand transforms, latency from perception to control, and gripper issues (mismatch between opening and object size, friction, compliance, backlash). The poster accordingly solicited feedback on real-world experience from robotics grasping practitioners, and no conclusion has yet been given as to which of these is the main cause. These failure sources span four stages—perception, calibration, control timing, and the end effector—indicating that visual grasping failure may not lie in the vision algorithm itself.

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