perceiving-next-item

perceiving-next-item

The repeating head of a pack-all loop. One robot.get_observation feeds two perceptions — the destination container and the next remaining item — and a decide router turns the item verdict into the loop's continue/terminate signal. It is perceiving-objects (the reliable pairwise-tournament perception) composed with (a) a second perception for the container and (b) a clean none exit, so a "pick up every object and place it in the basket" workflow has one subgraph that answers "is there still an item, and where is the basket?" every pass.

Detection uses the same pairwise VLM crop tournament as perceiving-objects (~30% → 97% object-ID over a one-shot Set-of-Marks pick on the LIBERO-PosVar study). The clean loop terminator comes from the item's container-excluding object_description: once only the basket remains, the tournament + verify gate answer "no grocery item", perceive_item returns found=False, and the decide router emits none → the loop exits to done.

When to use

• The repeating head of a pack-all / clean-all-items loop (transport routes its success edge back here), where each pass must reliably decide "grasp the next item" vs "everything is packed, stop".
• When the downstream place needs a fresh container OBB every pass (this skill emits container_obb/container_mask/container_cloud alongside the target).

When NOT to use

• Single pick-and-place (grab ONE named object). Use perceiving-objects (one target, no loop, no container co-perception).
• You want the container localized once, out of the loop. If the container never moves and you prefer to perceive it a single time before the loop, use a plain perceiving-objects subgraph for the basket + perceiving-objects-oneshot for the looping target. This skill deliberately re-localizes both each pass (robust to a nudged basket, one observation, one clean none).
• Cluttered scenes with look-alike distractors. Prefer perceiving-objects for the target identity — its pairwise-tournament plus object_description hints disambiguate look-alikes (it lacks the clean loop none, so you would add your own decide).