DeepChance-OPT: A Robust Decision-Making Framework for Dynamic Grasping in Precision Assembly

Achieving safe and efficient sequential decision-making in dynamic and uncertain environments is a core challenge in intelligent manufacturing and robotic systems. During operation, systems are often subject to coupled multi-source uncertainties—such as stochastic disturbances, model mismatch, and environmental shifts—rendering traditional approaches based on deterministic models or post hoc safety verification incapable of simultaneously ensuring performance and safety. In particular, the non-differentiability of constraint satisfaction probabilities in chance-constrained decision-making severely impedes its integration with data-driven learning paradigms. To address these challenges, this paper proposes DeepChance-OPT (Deep Chance Optimization), an end-to-end differentiable disturbance-rejection decision framework tailored for dynamic grasping tasks in precision assembly. The framework first encodes historical observations and control sequences into a low-dimensional latent representation to extract key dynamic features relevant to decision-making. Subsequently, it models the temporal propagation of uncertainty in this latent space to predict the probability distribution of future states. Furthermore, via a differentiable chance-constrained mechanism, the risk of constraint violation is transformed into a continuous and differentiable penalty term, which is jointly optimized with the task performance objective to achieve synergistic improvement in both safety and efficiency. The entire framework is trained and executed under a unified end-to-end architecture, enabling closed-loop online sequential decision-making. Experiments on a precision silicon carbide wafer grasping task demonstrate that DeepChance-OPT achieves real-time performance (average decision latency < 4 ms) while reducing the constraint violation rate to 2.3%, significantly outperforming both traditional optimization and purely data-driven baselines. Under composite uncertainty scenarios—including parameter perturbations, measurement noise, and external disturbances—the success rate remains stably above 87.5%, fully validating the effectiveness of the proposed framework for robust, safe, and efficient decision-making in complex dynamic environments. This work provides a new paradigm for intelligent disturbance-rejection decision-making in high-precision manufacturing, offering both theoretical rigor and engineering practicality.