LIBERO-PRO

Feasibility Gate in 3D

A grasp passes the gate when reach × approach × collision is at least 0.5. Reach is 1 inside the Franka workspace, a box fixed to the robot base, and 0.1 outside it, so a grasp outside the box is removed before anything is ranked. Pick a LIBERO-PRO scene and orbit it.

drag to orbit · scroll to zoom · right-drag to pan

RGB render of the LIBERO-PRO scene — RGB pass

Depth render of the same frame, near is yellow — Depth pass

Grasp candidates

The three feasibility terms, their product and what the full layer does with each grasp.

#	in workspace	reach r	approach a	collision c	r·a·c	full-layer score	recorded rollout

How the workspace is placed

How each scene was chosen

What reads this frame

Nothing in the reported runs. Candidates and obstacle geometry come from simulator state; the frame is rendered once from the rollout-video camera, a MuJoCo depth pass in metres, and lifted here with affordx.rendering.camera.lift only to show the scene.