MMGNet: Multi-Modal 6-DoF Grasp Synthesis for Cluttered Scenes

Grasping is a foundational capability in robotic manipulation. Scene-level 6-DoF grasp synthesis relies on point clouds for metric geometry, yet real-world point observations are often noisy, incomplete, and over-smoothed. RGB images provide object-region, boundary, and appearance cues, yet two bottlenecks limit their effective use in scene representation and local grasp reasoning. We present MMGNet, a Multi-Modal Grasp Synthesis Network that addresses these bottlenecks through hierarchical image-to-3D feature injection and rotational graspness modeling. Hierarchical injection integrates multi-scale image features throughout 3D representation formation, while the rotational graspness jointly predicts the grasp approach direction and in-plane rotation before organizing local image-informed features through grasp-shaded grouping. Ablation studies show that these two modules provide complementary gains. MMGNet achieves a mean AP of 60.34 on GraspNet-1Billion with RealSense, surpassing all compared methods. In real-world experiments with adversarial grasp objects, MMGNet improves the grasp success rate over AnyGrasp by 8.46 percentage points. Code, models, and data will be released upon publication.