Papers › CAGE: Context-Aware Grasping Engine
CAGE: Context-Aware Grasping Engine
Weiyu Liu, Angel Daruna, Sonia Chernova
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
Semantic grasping is the problem of selecting stable grasps that are functionally suitable for specific object manipulation tasks. In order for robots to effectively perform object manipulation, a broad sense of contexts, including object and task constraints, needs to be accounted for. We introduce the Context-Aware Grasping Engine, which combines a novel semantic representation of grasp contexts with a neural network structure based on the Wide & Deep model, capable of capturing complex reasoning patterns. We quantitatively validate our approach against three prior methods on a novel dataset consisting of 14,000 semantic grasps for 44 objects, 7 tasks, and 6 different object states. Our approach outperformed all baselines by statistically significant margins, producing new insights into the importance of balancing memorization and generalization of contexts for semantic grasping. We further demonstrate the effectiveness of our approach on robot experiments in which the presented model successfully achieved 31 of 32 suitable grasps. The code and data are available at: https://github.com/wliu88/rail_semantic_grasping
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections