{"ID":2875674,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.01044","arxiv_id":"2509.01044","title":"Hierarchical Reactive Grasping via Task-Space Velocity Fields and Joint-Space Quadratic Programming","abstract":"We present a fast and reactive grasping framework that combines task-space velocity fields with joint-space Quadratic Program (QP) in a hierarchical structure. Reactive, collision-free global motion planning is particularly challenging for high-DoF systems, as simultaneous increases in state dimensionality and planning horizon trigger a combinatorial explosion of the search space, making real-time planning intractable. To address this, we plan globally in a lower-dimensional task space, such as fingertip positions, and track locally in the full joint space while enforcing all constraints. This approach is realized by constructing velocity fields in multiple task-space coordinates (or, in some cases, a subset of joint coordinates) and solving a weighted joint-space QP to compute joint velocities that track these fields with appropriately assigned priorities. Through simulation experiments and real-world tests using the recent pose-tracking algorithm FoundationPose, we verify that our method enables high-DoF arm-hand systems to perform real-time, collision-free reaching motions while adapting to dynamic environments and external disturbances.","short_abstract":"We present a fast and reactive grasping framework that combines task-space velocity fields with joint-space Quadratic Program (QP) in a hierarchical structure. Reactive, collision-free global motion planning is particularly challenging for high-DoF systems, as simultaneous increases in state dimensionality and planning...","url_abs":"https://arxiv.org/abs/2509.01044","url_pdf":"https://arxiv.org/pdf/2509.01044v2","authors":"[\"Yonghyeon Lee\",\"Tzu-Yuan Lin\",\"Alexander Alexiev\",\"Sangbae Kim\"]","published":"2025-09-01T00:52:01Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}