A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set

11 December 2019

Papers citing "A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set"

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Title
A Framework for Joint Grasp and Motion Planning in Confined Spaces Martin Rudorfer Jiří Hartvich Vojtěch Vonásek 60 0 0 12 May 2025
QuickGrasp: Lightweight Antipodal Grasp Planning with Point Clouds Navin Sriram Ravie Keerthi Vasan M Asokan Thondiyath Bijo Sebastian 31 0 0 28 Apr 2025
Practical Insights on Grasp Strategies for Mobile Manipulation in the Wild Isabella Huang Richard Cheng Sangwoon Kim Dan Kruse Carolyn Matl ... JC Hancock Shanmuga Harikumar Mark Tjersland James Borders D. Helmick 53 0 0 16 Apr 2025
DG16M: A Large-Scale Dataset for Dual-Arm Grasping with Force-Optimized Grasps Md Faizal Karim Mohammed Saad Hashmi Shreya Bollimuntha Mahesh Reddy Tapeti Gaurav Singh Nagamanikandan Govindan K. M. Krishna 58 0 0 11 Mar 2025
Supermarket-6DoF: A Real-World Grasping Dataset and Grasp Pose Representation Analysis Jason Toskov Akansel Cosgun 60 0 0 22 Feb 2025
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping Jun Yamada Alexander L. Mitchell Jack Collins Ingmar Posner OffRL 95 0 0 17 Feb 2025
Diffusion for Multi-Embodiment Grasping Roman Freiberg Alexander Qualmann Ngo Anh Vien Gerhard Neumann 36 3 0 24 Oct 2024
QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity J. Huber François Hélénon Mathilde Kappel Ignacio de Loyola Páez-Ubieta S. T. Puente Pablo Gil F. B. Amar Stéphane Doncieux SLR 52 1 0 03 Oct 2024
Graspness Discovery in Clutters for Fast and Accurate Grasp Detection Chenxi Wang Hao-Shu Fang Minghao Gou Hongjie Fang Jin Gao Cewu Lu 63 113 0 17 Jun 2024
Language-driven Grasp Detection An Dinh Vuong Minh Nhat Vu Baoru Huang Nghia Nguyen Hieu Le T. Vo Anh Nguyen VLM 46 19 0 13 Jun 2024
Sim-Grasp: Learning 6-DOF Grasp Policies for Cluttered Environments Using a Synthetic Benchmark Juncheng Li D. Cappelleri 55 2 0 01 May 2024
Speeding up 6-DoF Grasp Sampling with Quality-Diversity J. Huber Franccois Hélénon Mathilde Kappel Elie Chelly Mahdi Khoramshahi F. B. Amar Stéphane Doncieux 56 3 0 10 Mar 2024
Grasping Trajectory Optimization with Point Clouds Yu Xiang Sai Haneesh Allu Rohith Peddi Tyler Summers Vibhav Gogate 3DPC 32 2 0 08 Mar 2024
Enhancing Grasping Performance of Novel Objects through an Improved Fine-Tuning Process Xiao Hu Xiangsheng Chen 51 0 0 28 Oct 2023
AO-Grasp: Articulated Object Grasp Generation Carlota Parés-Morlans Claire Chen Yijia Weng Michelle Yi Yuying Huang Nick Heppert Linqi Zhou Leonidas Guibas Jeannette Bohg 52 6 0 24 Oct 2023
Grasp-Anything: Large-scale Grasp Dataset from Foundation Models An Vuong Minh Nhat Vu Hieu Le Baoru Huang B. Huynh T. Vo Andreas Kugi Anh Nguyen VLM 44 28 0 18 Sep 2023
Sim-Suction: Learning a Suction Grasp Policy for Cluttered Environments Using a Synthetic Benchmark Juncheng Li D. Cappelleri 3DPC 51 11 0 25 May 2023
Sim-MEES: Modular End-Effector System Grasping Dataset for Mobile Manipulators in Cluttered Environments Juncheng Li D. Cappelleri 29 0 0 17 May 2023
Implicit representation priors meet Riemannian geometry for Bayesian robotic grasping Norman Marlier Julien Gustin O. Bruls Gilles Louppe 41 0 0 18 Apr 2023
Learning Human-to-Robot Handovers from Point Clouds Sammy Christen Wei Yang Claudia Pérez-DÁrpino Otmar Hilliges Dieter Fox Yu-Wei Chao 37 41 0 30 Mar 2023
DefGraspNets: Grasp Planning on 3D Fields with Graph Neural Nets Isabella Huang Yashraj S. Narang R. Bajcsy Fabio Ramos Tucker Hermans Dieter Fox 25 10 0 28 Mar 2023
KGNv2: Separating Scale and Pose Prediction for Keypoint-based 6-DoF Grasp Synthesis on RGB-D input Yiye Chen Ruinian Xu Yunzhi Lin Hongyi Chen Patricio A. Vela 3DPC 51 4 0 09 Mar 2023
Constrained Generative Sampling of 6-DoF Grasps Jens Lundell Francesco Verdoja Tran Minh Son Le Arsalan Mousavian Dieter Fox Ville Kyrki 3DV SLR 32 6 0 21 Feb 2023
Video based Object 6D Pose Estimation using Transformers Apoorva Beedu Huda AlAmri Irfan Essa ViT 29 8 0 24 Oct 2022
MonoGraspNet: 6-DoF Grasping with a Single RGB Image Guangyao Zhai Dianye Huang Shun-cheng Wu Hyunjun Jung Yan Di Fabian Manhardt F. Tombari Nassir Navab Benjamin Busam 52 36 0 26 Sep 2022
Keypoint-GraspNet: Keypoint-based 6-DoF Grasp Generation from the Monocular RGB-D input Yiye Chen Yunzhi Lin Ruinian Xu Patricio Vela 3DV 3DPC 41 10 0 19 Sep 2022
6IMPOSE: Bridging the Reality Gap in 6D Pose Estimation for Robotic Grasping H. Cao Lukas Dirnberger Daniele Bernardini C. Piazza Marco Caccamo 42 10 0 30 Aug 2022
Grasp'D: Differentiable Contact-rich Grasp Synthesis for Multi-fingered Hands Dylan Turpin Liquang Wang Eric Heiden Yun-Chun Chen Miles Macklin Stavros Tsogkas Sven J. Dickinson Animesh Garg 38 67 0 25 Aug 2022
MetaGraspNet: A Large-Scale Benchmark Dataset for Scene-Aware Ambidextrous Bin Picking via Physics-based Metaverse Synthesis Maximilian Gilles Yuhao Chen Tim Robin Winter E. Z. Zeng Alexander Wong 30 25 0 08 Aug 2022
DA $^2$ Dataset: Toward Dexterity-Aware Dual-Arm Grasping Guangyao Zhai Yu Zheng Ziwei Xu Xin Kong Yong Liu Benjamin Busam Yi Ren Nassir Navab Zhengyou Zhang 28 13 0 31 Jul 2022
Dext-Gen: Dexterous Grasping in Sparse Reward Environments with Full Orientation Control Martin Schuck Jan Brüdigam A. Capone Stefan Sosnowski Sandra Hirche 32 1 0 28 Jun 2022
BURG-Toolkit: Robot Grasping Experiments in Simulation and the Real World Martin Rudorfer M. Suchi Mohan Sridharan Markus Vincze Alevs Leonardis 38 4 0 27 May 2022
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers Yu-Wei Chao Chris Paxton Yu Xiang Wei Yang Balakumar Sundaralingam Tao Chen Adithyavairavan Murali Maya Cakmak Dieter Fox 69 17 0 19 May 2022
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects Isabella Huang Yashraj S. Narang Clemens Eppner Balakumar Sundaralingam Miles Macklin R. Bajcsy Tucker Hermans Dieter Fox 27 25 0 21 Mar 2022
End-to-End Learning to Grasp via Sampling from Object Point Clouds A. Alliegro Martin Rudorfer F. Frattin A. Leonardis Tatiana Tommasi 3DPC 36 26 0 10 Mar 2022
Close the Optical Sensing Domain Gap by Physics-Grounded Active Stereo Sensor Simulation Xiaoshuai Zhang Rui Chen Ang Li Fanbo Xiang Yuzhe Qin ... Songfang Han Zhiao Huang Tongzhou Mu Jing Xu Hao Su 55 17 0 28 Jan 2022
VideoPose: Estimating 6D object pose from videos Apoorva Beedu Zhile Ren Varun Agrawal Irfan Essa 38 2 0 20 Nov 2021
Learning suction graspability considering grasp quality and robot reachability for bin-picking Ping Jiang J. Oaki Yoshiyuki Ishihara J. Ooga Haifeng Han A. Sugahara S. Tokura Haruna Eto Kazuma Komoda Akihito Ogawa 34 18 0 04 Nov 2021
IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model Chung Min Kim Michael Danielczuk Isabella Huang Ken Goldberg 19 18 0 02 Nov 2021
Predicting Stable Configurations for Semantic Placement of Novel Objects Chris Paxton Christopher Xie Tucker Hermans Dieter Fox 50 47 0 26 Aug 2021
Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation Yiming Li Tao Kong Ruihang Chu Yifeng Li Peng Wang Lei Li 29 50 0 05 Aug 2021
DefGraspSim: Simulation-based grasping of 3D deformable objects Isabella Huang Yashraj S. Narang Clemens Eppner Balakumar Sundaralingam Miles Macklin Tucker Hermans Dieter Fox 27 22 0 12 Jul 2021
DexYCB: A Benchmark for Capturing Hand Grasping of Objects Yu-Wei Chao Wei Yang Yu Xiang Pavlo Molchanov Ankur Handa ... Karl Van Wyk Umar Iqbal Stan Birchfield Jan Kautz Dieter Fox 35 257 0 09 Apr 2021
Dynamic Grasping with Reachability and Motion Awareness Iretiayo Akinola Jingxi Xu Shuran Song Peter K. Allen 22 42 0 18 Mar 2021
Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments Fahad Islam Chris Paxton Clemens Eppner Bryan N. Peele Maxim Likhachev Dieter Fox 21 4 0 29 Dec 2020
ACRONYM: A Large-Scale Grasp Dataset Based on Simulation Clemens Eppner Arsalan Mousavian Dieter Fox 48 209 0 18 Nov 2020
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds Lirui Wang Yu Xiang Wei Yang Arsalan Mousavian Dieter Fox 3DPC 31 45 0 02 Oct 2020
Multi-Fingered Active Grasp Learning Qingkai Lu Mark Van der Merwe Tucker Hermans 29 32 0 06 Jun 2020
GOMP: Grasp-Optimized Motion Planning for Bin Picking Jeffrey Ichnowski Michael Danielczuk Jingyi Xu V. Satish Ken Goldberg 30 38 0 05 Mar 2020
Manipulation Trajectory Optimization with Online Grasp Synthesis and Selection Lirui Wang Yu Xiang Dieter Fox 19 38 0 22 Nov 2019