StereoAnything
Advanced Zero-Shot Stereo Imaging for Multi-Finger Grasp Detection with Transparent Objects

Kaixin Bai 1,2, Lei Zhang* 1,2, Yiwen Liu 2,3 , Zhaopeng Chen 2, Jianwei Zhang 1

1 University of Hamburg, 2 Agile Robots SE,
3 Technical University of Munich

📃 TechRxiv PDF 📦 Datasets (Coming Soon)

Live Demos

Results: Comparison Experiments

Results: Different Scenes

Results of Transparent Object Grasping using Multi-Fingered Robotic Hand

Real-World Robot Experiments

Model Attribution

The cosmetic product models were purchased from Sketchfab. Transparent container models were custom-designed in-house. Scene models and corresponding materials were sourced from free assets available via BlenderKit.

In case this work has provided some assistance in your research endeavors, your citation would be greatly appreciated.

@article{bai2025stereoanything,

title={StereoAnything: Advanced Zero-Shot Stereo Imaging for Multi-Finger Grasp Detection with Transparent Objects},

author={Bai, Kaixin and Zhang, Lei and Liu, Yiwen and Chen, Zhaopeng and Zhang, Jianwei},

journal={Authorea Preprints},

year={2025},

doi={10.36227/techrxiv.174612328.83478240/v1},

url={https://doi.org/10.36227/techrxiv.174612328.83478240/v1},

publisher={Authorea}

}

@article{bai2024cleardepth,

title={ClearDepth: Enhanced Stereo Perception of Transparent Objects for Robotic Manipulation},

author={Bai, Kaixin and Zeng, Huajian and Zhang, Lei and Liu, Yiwen and Xu, Hongli and Chen, Zhaopeng and Zhang, Jianwei},

journal={arXiv preprint arXiv:2409.08926},

year={2024}

}

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