DexGraspNet
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Grasping | DexGraspNet Shadow Hand Unseen Categories (test) | GSR97.7 | 12 | |
| Grasping | DexGraspNet Shadow Hand Seen Categories (test) | Grasp Success Rate (GSR)98.2 | 12 | |
| Grasping | DexGraspNet Shadow Hand (train) | GSR97.9 | 12 | |
| Dexterous Grasp Generation | DexGraspNet 1.0 (test) | Penetration Error0.107 | 12 | |
| Pose Optimization | DexGraspNet | D50 | 10 | |
| Dexterous Grasping | DexGraspNet (test) | Success Rate (6 DoF)67.2 | 6 | |
| Grasp Synthesis | DexGraspNet | GSR74.6 | 6 | |
| Dexterous Functional Grasping | DexGraspNet Mechanic Tool | Success Rate83.1 | 4 | |
| Dexterous Functional Grasping | DexGraspNet Kitchenware | Success Rate80.2 | 4 | |
| Grasp Style Diversity | DexGraspNet Unseen Categories | SD (Grasp Style Diversity)1.8 | 3 | |
| Grasp Style Diversity | DexGraspNet Seen Categories | Style Diversity1.71 | 3 | |
| Dual-arm grasping | DexGraspNet | Success Rate (Fingertip)77.11 | 3 | |
| Bimanual Grasp Generation | DexGraspNet | SUC-L66.78 | 3 | |
| Dexterous Grasping | DexGraspNet Multi-object scene 2.0 | Croissant Grasp Success Rate26.89 | 2 | |
| Dexterous Grasping | DexGraspNet Single-object scene 2.0 | Croissant Success Rate48.05 | 2 |
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