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Picking Bins Empty: A Hierarchical Hybrid Approach with Online Self-Learning of Grasp Points for Reliable Industrial Bin-Picking

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Bin-picking is a cornerstone of modern manufacturing, yet achieving complete bin clearance without manual intervention remains a critical challenge. While model-based methods provide high precision, they frequently suffer from deadlocks when predefined grasps are occluded or perception fails. Labor-intensive fine-tuning of grasp points is commonly required to reach a satisfactory performance for new parts. Model-free algorithms offer a more flexible alternative with "out-of-the-box" versatility but lack the reliability and repeatability required for production. Unlike existing work, which trea

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