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Training-free Suction Grasp Detection for Deformed Aseptic Cartons Using Vision-Language Models and Geometric Surface Scoring

arXiv · AI, language, vision and robotics · article · Aug 28, 2026 · UTC

Robotic sorting of recyclable waste is challenging due to the deformable and geometrically inconsistent nature of target objects. We present a training-free suction grasping system for sorting deformed aseptic beverage cartons, decoupling target identification from grasp-point selection. An open-vocabulary vision-language model detects cartons from a text prompt, SAM2 refines each detection into an instance mask, and a geometric scoring method selects the suction point by combining surface flatness with normal alignment. Three geometric methods are compared: k-nearest-neighbour PCA, Sobel cros

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