SOTA Dexterous Grasping benchmarks and papers with code

Benchmarks

Dataset Name	SOTA Method	Metric
Clutter-Bench Level-3	AdaClearGrasp	Success Rate100	16	4mo ago
Clutter-Bench Level-2	AdaClearGrasp	Success Rate100	16	4mo ago
Clutter-Bench (Level-1)	AdaClearGrasp	Success Rate100	16	4mo ago
Simulated Dexterous Grasping Environment	DemoDiffusion	Success Rate31.8	12	4mo ago
DexGRAB official (test)	EFF-Grasp	Success Rate (Suc.6)61.3	12	4mo ago
RealDex official (test)	DexGrasp Anything	Success Rate (Suc.6)0.448	12	4mo ago
MultiDex official (test)	DexGrasp Anything	Success Rate (6)79.1	12	4mo ago
UniDexGrasp official (test)	EFF-Grasp	Success Rate (6 DOF)68	12	4mo ago
object-task configurations Held-out	SynManDex	Force Closure (FC)86.4	10	1mo ago
YCB (Unseen Hands)	DexGrasp-Zero	LEAP Score93	7	4mo ago
YCB (Seen Hands)	DexGrasp-Zero	Allegro Score92	7	4mo ago
DexGrasp Anything	KPGrasp	PD (mm) - GRAB20.8	6	1mo ago
DexGraspNet (test)	EFF-Grasp	Success Rate (6 DoF)67.2	6	4mo ago
ShapeNet (Loose)	CADGrasp	Success Rate75.7	6	4mo ago
ShapeNet (Random)	CADGrasp	Success Rate77.7	6	4mo ago
ShapeNet Dense	DexGraspNet2.0	Success Rate81.5	6	4mo ago
GraspNet-1Billion (Loose)	CADGrasp	Success Rate80.1	6	4mo ago
GraspNet-1Billion (Random)	CADGrasp	Success Rate85.5	6	4mo ago
GraspNet-1Billion Dense	CADGrasp	Success Rate86.5	6	4mo ago
Dexonomy	KPGrasp	GSR76.3	5	1mo ago
TaCo IsaacSim Dexterous Grasping		s_lift (Small)54.7	5	4mo ago
VisualDexterity	SECOND-Grasp	GSR94.14	4	2mo ago
ModelNet40	SECOND-Grasp	GSR87.89	4	2mo ago
Omni6DPose	SECOND-Grasp	GSR77.84	4	2mo ago
EGAD	SECOND-Grasp	Grasp Success Rate (GSR)96.68	4	2mo ago

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