Robotic Grasping

This task is composed of using Deep Learning to identify how best to grasp objects using robotic arms in different scenarios. This is a very complex task as it might involve dynamic environments and objects unknown to the network.

Papers

Recently Added Most Hyped Most Active Needs Verification Most Verified

Showing 51–75 of 246 papers

Title	Date	Tasks	Status	Hype	Score
End-to-end Trainable Deep Neural Network for Robotic Grasp Detection and Semantic Segmentation from RGB	Jul 12, 2021	Robotic GraspingSegmentation	CodeCode Available	1	5
MetaGraspNet_v0: A Large-Scale Benchmark Dataset for Vision-driven Robotic Grasping via Physics-based Metaverse Synthesis	Dec 29, 2021	Objectobject-detection	CodeCode Available	1	5
Towards Scale Balanced 6-DoF Grasp Detection in Cluttered Scenes	Dec 10, 2022	Data AugmentationRobotic Grasping	CodeCode Available	1	5
PyRobot: An Open-source Robotics Framework for Research and Benchmarking	Jun 19, 2019	BenchmarkingRobotic Grasping	CodeCode Available	1	5
Grasping Field: Learning Implicit Representations for Human Grasps	Aug 10, 2020	3D Object ReconstructionGrasp Generation	CodeCode Available	1	5
Depth-aware Object Segmentation and Grasp Detection for Robotic Picking Tasks	Nov 22, 2021	Instance SegmentationObject	CodeCode Available	1	5
Depth-based 6DoF Object Pose Estimation using Swin Transformer	Mar 3, 2023	6D Pose Estimation6D Pose Estimation using RGB	CodeCode Available	1	5
Reward Engineering for Object Pick and Place Training	Jan 11, 2020	Objectreinforcement-learning	CodeCode Available	0	5
Accept Synthetic Objects as Real: End-to-End Training of Attentive Deep Visuomotor Policies for Manipulation in Clutter	Sep 24, 2019	Data AugmentationImitation Learning	CodeCode Available	0	5
State Representations as Incentives for Reinforcement Learning Agents: A Sim2Real Analysis on Robotic Grasping	Sep 21, 2023	Decision Makingreinforcement-learning	CodeCode Available	0	5
Asynchronous Events-based Panoptic Segmentation using Graph Mixer Neural Network	May 5, 2023	Panoptic SegmentationRobotic Grasping	CodeCode Available	0	5
Deep Reinforcement Learning for Vision-Based Robotic Grasping: A Simulated Comparative Evaluation of Off-Policy Methods	Feb 28, 2018	Deep Reinforcement LearningDiversity	CodeCode Available	0	5
Solving the Real Robot Challenge using Deep Reinforcement Learning	Sep 30, 2021	Deep Reinforcement Learningreinforcement-learning	CodeCode Available	0	5
Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network	Sep 11, 2019	Robotic Grasping	CodeCode Available	0	5
MonoSIM: Simulating Learning Behaviors of Heterogeneous Point Cloud Object Detectors for Monocular 3D Object Detection	Aug 19, 2022	3D Object DetectionAutonomous Driving	CodeCode Available	0	5
3D Semantic Segmentation of Modular Furniture using rjMCMC	May 15, 2017	3D Semantic Segmentationfurniture segmentation	CodeCode Available	0	5
Learning Object Placements For Relational Instructions by Hallucinating Scene Representations	Jan 23, 2020	Auxiliary LearningRobotic Grasping	CodeCode Available	0	5
Contrastively Learning Visual Attention as Affordance Cues from Demonstrations for Robotic Grasping	Apr 2, 2021	Contrastive LearningDecoder	CodeCode Available	0	5
A Benchmarking Study of Vision-based Robotic Grasping Algorithms	Mar 14, 2025	BenchmarkingRobotic Grasping	CodeCode Available	0	5
Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception	Jun 24, 2025	ObjectPose Estimation	CodeCode Available	0	5
Composing Pick-and-Place Tasks By Grounding Language	Feb 16, 2021	Natural Language Visual GroundingRobotic Grasping	CodeCode Available	0	5
Jacquard: A Large Scale Dataset for Robotic Grasp Detection	Mar 30, 2018	DiversityRobotic Grasping	CodeCode Available	0	5
A Fast Method For Computing Principal Curvatures From Range Images	Jul 3, 2017	GPUObject Recognition	CodeCode Available	0	5
HiFi-CS: Towards Open Vocabulary Visual Grounding For Robotic Grasping Using Vision-Language Models	Sep 16, 2024	AttributeDecoder	CodeCode Available	0	5
IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Tasks	Nov 17, 2019	Industrial Robotsreinforcement-learning	CodeCode Available	0	5

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All datasets GraspNet-1Billion Cornell Grasp Dataset Jacquard dataset

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	FlexLoG-CD	mAP	56.02	—	Unverified
2	GtG2.0	mAP	53.42	—	Unverified
3	Scale-Balanced-Grasp-CD	mAP	48.97	—	Unverified
4	graspness-CD	mAP	48.75	—	Unverified
5	HGGD-CD	mAP	47.54	—	Unverified
6	HGGD	mAP	44.24	—	Unverified
7	graspnet-baseline-CD	mAP	35.45	—	Unverified
8	graspnet-baseline	mAP	21.41	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	grasp_det_seg_cnn (rgb only, IW split)	5 fold cross validation	98.2	—	Unverified
2	GR-ConvNet	5 fold cross validation	97.7	—	Unverified
3	ResNet50 multi-grasp predictor	5 fold cross validation	96	—	Unverified
4	Multi-Modal Grasp Predictor	5 fold cross validation	89.21	—	Unverified
5	AlexNet, MultiGrasp	5 fold cross validation	88	—	Unverified
6	GGCNN	5 fold cross validation	73	—	Unverified
7	Fast Search	5 fold cross validation	60.5	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Efficient-Grasping	Accuracy (%)	95.6	—	Unverified
2	GR-ConvNet	Accuracy (%)	94.6	—	Unverified
3	grasp_det_seg_cnn (rgb only)	Accuracy (%)	92.95	—	Unverified