GraspALL: Adaptive Structural Compensation from Illumination Variation for Robotic Garment Grasping in Any Low-Light Conditions

• URL: http://arxiv.org/abs/2603.14789v1
• Date: Mon, 16 Mar 2026 03:38:38 GMT
• Title: GraspALL: Adaptive Structural Compensation from Illumination Variation for Robotic Garment Grasping in Any Low-Light Conditions
• Abstract summary: The reduced illumination in low-light scenes severely degrades garment structural features, leading to a significant drop in grasping robustness.<n>Existing methods typically enhance RGB features by exploiting the illumination-invariant properties of non-RGB modalities.<n>We propose GraspALL, an illumination-structure interactive compensation model.<n>Experiments on the self-built garment grasping dataset demonstrate that GraspALL improves grasping accuracy by 32-44% over baselines under diverse illumination conditions.
• Score: 55.86392310651848
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: Achieving accurate garment grasping under dynamically changing illumination is crucial for all-day operation of service robots.However, the reduced illumination in low-light scenes severely degrades garment structural features, leading to a significant drop in grasping robustness.Existing methods typically enhance RGB features by exploiting the illumination-invariant properties of non-RGB modalities, yet they overlook the varying dependence on non-RGB features under varying lighting conditions, which can introduce misaligned non-RGB cues and thereby weaken the model's adaptability to illumination changes when utilizing multimodal information.To address this problem, we propose GraspALL, an illumination-structure interactive compensation model.The innovation of GraspALL lies in encoding continuous illumination changes into quantitative references to guide adaptive feature fusion between RGB and non-RGB modalities according to varying lighting intensities, thereby generating illumination-consistent grasping representations.Experiments on the self-built garment grasping dataset demonstrate that GraspALL improves grasping accuracy by 32-44% over baselines under diverse illumination conditions.

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