SOURCE-LINKED INTELLIGENCE

Fast Generative Grasping via Lie Group-Constrained MeanFlow

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

Grasp synthesis is a core task in robotic manipulation, for which the solution typically forms a multimodal distribution rather than a point estimate. Generative robotic grasping aims to learn this distribution with deep generative models such as diffusion and flow-based approaches. The iterative nature of such generative models makes them flexible and generalizable; however, multi-step sampling impedes the time-critical operation required in robotics. We devise an approach to fast generative grasping based on MeanFlow on the product Lie group $\mathcal{G} = \mathrm{SO}(3) \times \mathbb{R}^3$

Read original source ↗ Open in workspace

recordType

paper

region

Global