国防科技大学学报2026，Vol.48Issue(3)：339-356,18.DOI:10.11887/j.issn.1001-2486.26020003
从几何解析到语义推理:机器人抓取感知范式的演进
From geometric analysis to semantic reasoning:the evolution of robotic grasping perception paradigms
摘要
Abstract
Robotic grasping perception is a fundamental prerequisite for autonomous manipulation and embodied intelligence.The technical paradigm is undergoing a profound shift from analytical methods based on explicit geometric modeling to intelligent perception frameworks driven by data-driven learning and enhanced semantic reasoning.Research on robotic grasping perception was systematically reviewed along the lines of paradigm evolution.The evolutionary process was described through three progressive stages:analytical geometry-driven methods,visual data-driven methods,and semantic understanding and reasoning enhancement.Representative algorithms and key technical pathways for each stage were examined and analyzed.Through a comparative analysis of input modalities,data requirements,generalization ability,and task adaptability across different paradigms,the advantages and limitations of various methods in unstructured environments were summarized.Furthermore,the evolution of grasping datasets from planar benchmarks to large-scale comprehensive data was systematically traced,and the quantitative evaluation system composed of task reliability and proposal accuracy was analyzed.Prevailing challenges,including sim-to-real transfer,inference efficiency,cross-modal information fusion,and the extension to complex tasks,were identified.Future development trends that integrate embodied foundation models with dexterous manipulation were discussed to provide references for building general-purpose robotic grasping systems with high generalization performance and robust task comprehension.关键词
机器人抓取感知/几何建模/数据驱动学习/语义理解与推理增强Key words
robotic grasping perception/geometric modeling/data-driven learning/semantic understanding and reasoning enhancement分类
信息技术与安全科学引用本文复制引用
邹世龙,黄雨行,易任娇,朱晨阳,徐凯..从几何解析到语义推理:机器人抓取感知范式的演进[J].国防科技大学学报,2026,48(3):339-356,18.基金项目
国家自然科学基金资助项目(62522219,62372457,62132021,62572477) （62522219,62372457,62132021,62572477）
