GraspNet
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Grasp Detection | GraspNet-1Billion (RealSense) | AP (Average)59.13 | 32 | |
| Grasp Detection | GraspNet-1Billion RealSense Novel | AP24.63 | 25 | |
| Grasp Detection | GraspNet-1Billion RealSense Similar | AP0.5846 | 25 | |
| Grasp Detection | GraspNet-1Billion RealSense (Seen) | AP67.12 | 25 | |
| Grasp Detection | GraspNet-1Billion Kinect camera (seen) | AP63.5 | 23 | |
| Whole Scene Reconstruction | GraspNet Real (10 Scenes) | PSNR23.15 | 17 | |
| Grasp Detection | GraspNet-1Billion Kinect camera (Novel) | AP19.78 | 13 | |
| Grasp Detection | GraspNet-1Billion Kinect camera (Similar split) | AP40.03 | 13 | |
| Grasp Pose Detection | GraspNet-1Billion Kinect 1.0 | AP (Seen)72.89 | 12 | |
| Semantic Segmentation | GraspNet-1B | mIoU27.85 | 11 | |
| Grasp Pose Detection | GraspNet-1Billion Kinect 1.0 (Novel) | AP0.1978 | 10 | |
| Grasp Pose Detection | GraspNet-1Billion Kinect 1.0 (Similar) | AP49.18 | 10 | |
| Grasp Pose Detection | GraspNet-1Billion RealSense 1.0 (Seen) | AP67.12 | 10 | |
| Classification | GraspNetPC-10 1.0 (test) | Success Rate (Syn -> Kin)0.972 | 10 | |
| Grasp Detection | GraspNet-1Billion Kinect | AP (Seen)0.6944 | 9 | |
| Affordance Segmentation | GraspNet (novel) | gIoU61.3 | 8 | |
| Affordance Segmentation | GraspNet (seen) | gIoU72 | 8 | |
| Dexterous Grasping | GraspNet-1Billion (Loose) | Success Rate80.1 | 6 | |
| Dexterous Grasping | GraspNet-1Billion (Random) | Success Rate85.5 | 6 | |
| Dexterous Grasping | GraspNet-1Billion Dense | Success Rate86.5 | 6 | |
| Parallel Grasping | GraspNet Parallel 1B (Novel) | AP25.53 | 5 | |
| Parallel Grasping | GraspNet Parallel 1B (Similar) | AP61.19 | 5 | |
| Parallel Grasping | GraspNet Parallel 1B (Seen) | AP68.37 | 5 | |
| 6D Pose Estimation | GraspNet (test) | Pose Accuracy54.01 | 4 | |
| Point Cloud Completion | GraspNet (test) | CD0.14 | 4 |
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