[2605.05461] Contact-Free Grasp Stability Prediction with In-Hand Time-of-Flight Sensors
Skip to main content
Learn about arXiv becoming an independent nonprofit.
We gratefully acknowledge support from the Simons Foundation, member institutions, and all contributors. Donate
> cs > arXiv:2605.05461
Help | Advanced Search
All fields Title Author Abstract Comments Journal reference ACM classification MSC classification Report number arXiv identifier DOI ORCID arXiv author ID Help pages Full text
Search
GO
quick links
Login
Help Pages
About
-->
Computer Science > Robotics
arXiv:2605.05461 (cs)
[Submitted on 6 May 2026]
Title:Contact-Free Grasp Stability Prediction with In-Hand Time-of-Flight Sensors
Authors:Kyle DuFrene, Cindy Grimm
View a PDF of the paper titled Contact-Free Grasp Stability Prediction with In-Hand Time-of-Flight Sensors, by Kyle DuFrene and 1 other authors
View PDF HTML (experimental)
Abstract:Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these approaches rely on making contact and grasping the object to do so. We propose a contact-free grasp stability predictor using multi-zone time-of-flight sensors mounted in the distal links of a gripper. Our method, as it does not require grasping the object to make a prediction, significantly speeds up the stability classification process, cycling at 15 Hz. We collected over 2,500 real-world grasps across 15 objects to train a classifier. Additionally, we conducted grasp attempts over six additional unseen objects, three for validation and model selection, and three for model testing. Our approach demonstrated strong classification performance, with an accuracy of 85.5% on validation and 86.0% on test objects.
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.05461 [cs.RO]
(or arXiv:2605.05461v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.05461
Focus to learn more
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Kyle DuFrene [view email] [v1] Wed, 6 May 2026 21:37:31 UTC (7,653 KB)
Full-text links:
Access Paper:
View a PDF of the paper titled Contact-Free Grasp Stability Prediction with In-Hand Time-of-Flight Sensors, by Kyle DuFrene and 1 other authors
View PDF
HTML (experimental)
TeX Source
view license
Current browse context:
cs.RO
new | recent | 2026-05
Change to browse by:
cs
References & Citations
NASA ADS
Google Scholar
Semantic Scholar
export BibTeX citation Loading...
BibTeX formatted citation
×
loading...
Data provided by:
Bookmark
Bibliographic Tools
Bibliographic and Citation Tools
Bibliographic Explorer Toggle
Bibliographic Explorer (What is the Explorer?)
Connected Papers Toggle
Connected Papers (What is Connected Papers?)
Litmaps Toggle
Litmaps (What is Litmaps?)
scite.ai Toggle
scite Smart Citations (What are Smart Citations?)
Code, Data, Media
Code, Data and Media Associated with this Article
alphaXiv Toggle
alphaXiv (What is alphaXiv?)
Links to Code Toggle
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub Toggle
DagsHub (What is DagsHub?)
GotitPub Toggle
Gotit.pub (What is GotitPub?)
Huggingface Toggle
Hugging Face (What is Huggingface?)
ScienceCast Toggle
ScienceCast (What is ScienceCast?)
Demos
Demos
Replicate Toggle
Replicate (What is Replicate?)
Spaces Toggle
Hugging Face Spaces (What is Spaces?)
Spaces Toggle
TXYZ.AI (What is TXYZ.AI?)
Related Papers
Recommenders and Search Tools
Link to Influence Flower
Influence Flower (What are Influence Flowers?)
Core recommender toggle
CORE Recommender (What is CORE?)
Author
Venue
Institution
Topic
About arXivLabs
arXivLabs: experimental projects with community collaborators
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)
About
Help
contact arXivClick here to contact arXiv Contact
subscribe to arXiv mailingsClick here to subscribe Subscribe
Copyright
Privacy Policy
Web Accessibility Assistance
arXiv Operational Status