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FlipToSee: A Probabilistic Stable Placement Prior for Active Visual Exploration via Regrasping

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Active visual exploration of tabletop objects often requires reorienting an unknown resting object onto a different stable support face to expose occluded surfaces. To identify such placements without exhaustive physical search, we learn a probabilistic placement prior from a single-view point cloud. Stable placement prediction is inherently multimodal, and conventional 6-DoF regression introduces further ambiguity by modeling translation and in-plane yaw. We therefore propose FlipToSee, a probabilistic framework that removes this representational ambiguity by parameterizing placements as unit

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