6-dof graspnet: Variational grasp generation for object manipulation, (2019) |
Mousavian et al. |
Sampling |
|
|
|
Sim |
Real |
Two-Finger |
Singulated |
✅ |
✅ |
|
|
|
|
2.36 |
Graspnet-1billion: a large-scale benchmark for general object grasping, (2020) |
Fang et al. |
Direct Regression |
|
|
|
Hybrid |
Real |
Two-Finger |
Structured |
✅ |
|
|
|
|
✅ |
2.35 |
Grasp pose detection in point clouds, (2017) |
ten Pas et al. |
Sampling |
|
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
|
|
2.22 |
High precision grasp pose detection in dense clutter, (2016) |
Gualtieri et al. |
Sampling |
|
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
|
|
1.95 |
6-dof grasping for target-driven object manipulation in clutter, (2020) |
Murali et al. |
Sampling |
|
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
✅ |
|
|
|
|
1.94 |
Shape completion enabled robotic grasping, (2017) |
Varley et al. |
Analytical |
✅ |
|
|
Sim |
Real |
Three-Finger |
\specialcell{Singulated\Structured} |
✅ |
|
|
|
✅ |
|
1.88 |
Grasp Proposal Networks: An End-to-End Solution for Visual Learning of Robotic Grasps, (2020) |
Wu et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Singulated |
✅ |
✅ |
|
|
|
|
1.69 |
Detecting object affordances with Convolutional Neural Networks, (2016) |
Nguyen et al. |
Analytical |
|
✅ |
|
Real |
Real |
Multi-Fingered |
Singulated |
✅ |
|
|
|
|
|
1.64 |
Learning Object Grasping for Soft Robot Hands, (2018) |
Choi et al. |
Direct Regression |
|
|
|
Real |
Real |
Soft Hand |
Singulated |
✅ |
|
|
✅ |
|
|
1.60 |
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes, (2021) |
Sundermeyer et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
✅ |
|
|
|
|
1.60 |
Grasping in the Wild: Learning 6DoF Closed-Loop Grasping From Low-Cost Demonstrations, (2020) |
Song et al. |
RL |
|
|
✅ |
Real |
Real |
Two-Finger |
Piled |
✅ |
|
|
|
|
|
1.58 |
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping, (2020) |
Van der Merwe et al. |
Sampling |
|
|
|
Sim |
Real |
Multi-Fingered |
Singulated |
✅ |
|
|
|
|
|
1.57 |
Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network, (2019) |
Lu et al. |
Sampling |
|
|
|
Sim |
Real |
\specialcell{Two-Finger\Multi-Fingered} |
Singulated |
✅ |
|
|
✅ |
|
|
1.54 |
Object-based affordances detection with Convolutional Neural Networks and dense Conditional Random Fields, (2017) |
Nguyen et al. |
Analytical |
|
|
|
Real* |
Real |
Multi-Fingered |
Piled |
✅ |
|
|
|
|
|
1.54 |
Generating multi-fingered robotic grasps via deep learning, (2015) |
Varley et al. |
Sampling |
|
|
|
Sim |
Real |
Three-Finger |
Singulated |
✅ |
|
|
|
✅ |
|
1.49 |
S4g: Amodal single-view single-shot se (3) grasp detection in cluttered scenes, (2020) |
Qin et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
|
|
1.45 |
UniGrasp: Learning a Unified Model to Grasp With Multifingered Robotic Hands, (2020) |
Shao et al. |
Direct Regression |
|
|
|
Sim |
Real |
Multi-Fingered |
Singulated |
✅ |
|
|
|
|
|
1.45 |
kPAM-SC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion, (2019) |
Gao & Tedrake |
Analytical |
✅ |
✅ |
|
Sim |
Real |
Two-Finger |
Singulated |
✅ |
|
|
|
|
|
1.43 |
Regnet: region-based grasp network for single-shot grasp detection in point clouds, (2020) |
Zhao et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
|
|
1.42 |
Beyond top-grasps through scene completion, (2020) |
Lundell et al. |
Sampling |
✅ |
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
✅ |
|
1.41 |
Learning Task-Oriented Grasping From Human Activity Datasets, (2020) |
Kokic et al. |
Direct Regression |
|
✅ |
|
Sim |
Real |
Two-Finger |
Singulated |
|
|
|
|
|
✅ |
1.41 |
Graspness Discovery in Clutters for Fast and Accurate Grasp Detection, (2021) |
Wang et al. |
Direct Regression |
|
|
|
Hybrid |
Real |
Two-Finger |
Piled |
✅ |
|
|
|
|
✅ |
1.40 |
Learning to Generate 6-DoF Grasp Poses with Reachability Awareness, (2020) |
Lou et al. |
Sampling |
|
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
|
|
1.38 |
Robust Grasp Planning Over Uncertain Shape Completions, (2019) |
Lundell et al. |
Analytical |
✅ |
|
|
Sim |
Real |
Three-Finger |
Singulated |
✅ |
|
|
|
✅ |
|
1.37 |
RGB Matters: Learning 7-DoF Grasp Poses on Monocular RGBD Images, (2021) |
Gou et al. |
Direct Regression |
|
|
|
Hybrid |
Real |
Two-Finger |
Structured |
✅ |
|
|
|
|
✅ |
1.36 |
Multi-FinGAN: Generative Coarse-To-Fine Sampling of Multi-Finger Grasps, (2020) |
Lundell et al. |
Sampling |
✅ |
|
|
Sim |
Real |
Three-Finger |
Singulated |
✅ |
|
|
|
✅ |
|
1.36 |
Collision-Aware Target-Driven Object Grasping in Constrained Environments, (2021) |
Lou et al. |
Sampling |
|
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
|
|
|
|
|
1.34 |
Transferable Active Grasping and Real Embodied Dataset, (2020) |
Chen et al. |
RL |
|
|
✅ |
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
|
|
|
|
1.34 |
Hierarchical 6-DoF Grasping with Approaching Direction Selection, (2020) |
Choi et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
\specialcell{Structured\Piled} |
✅ |
|
|
|
✅ |
|
1.32 |
6-DoF Contrastive Grasp Proposal Network, (2021) |
Zhu et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Singulated |
✅ |
|
|
|
✅ |
|
1.32 |
Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives, (2021) |
Berscheid et al. |
RL |
|
|
|
Real |
Real |
Two-Finger |
Piled |
✅ |
|
|
|
✅ |
|
1.32 |
GPR: Grasp Pose Refinement Network for Cluttered Scenes, (2021) |
Wei et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
✅ |
✅ |
|
|
|
1.32 |
Generating Grasp Poses for a High-DOF Gripper Using Neural Networks, (2019) |
Liu et al. |
Direct Regression |
|
|
|
Sim |
Real |
Multi-Fingered |
Singulated |
|
|
|
|
|
|
1.31 |
PointNet++ Grasping: Learning An End-to-end Spatial Grasp Generation Algorithm from Sparse Point Clouds, (2020) |
Ni et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
✅ |
|
1.30 |
Pixel-Attentive Policy Gradient for Multi-Fingered Grasping in Cluttered Scenes, (2019) |
Wu et al. |
RL |
|
|
|
Sim |
Real |
Three-Finger |
Piled |
✅ |
|
|
|
|
|
1.30 |
Multi-Fingered Active Grasp Learning, (2020) |
Lu et al. |
Active Learning |
|
|
|
Sim |
Real |
Multi-Fingered |
Singulated |
✅ |
|
|
|
|
|
1.28 |
Generative Attention Learning: a “GenerAL” framework for high-performance multi-fingered grasping in clutter, (2020) |
Wu et al. |
RL |
|
|
|
Sim |
Real |
\specialcell{Two-Finger\Multi-Fingered} |
\specialcell{Singulated\Piled} |
✅ |
|
|
|
|
|
1.28 |
Learning Grasp Affordance Reasoning Through Semantic Relations, (2019) |
Ardón et al. |
Direct Regression |
|
✅ |
|
Sim |
Real |
Two-Finger |
Singulated |
✅ |
|
|
|
|
|
1.28 |
Robotic Pick-and-Place With Uncertain Object Instance Segmentation and Shape Completion, (2021) |
Gualtieri & Platt |
Analytical |
✅ |
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
|
✅ |
|
|
|
1.26 |
DDGC: Generative Deep Dexterous Grasping in Clutter, (2021) |
Lundell et al. |
Sampling |
✅ |
|
|
Sim |
Real |
Three-Finger |
Structured |
|
|
✅ |
|
✅ |
|
1.26 |
Learning 6-dof grasping and pick-place using attention focus, (2018) |
Gualtieri & Platt |
RL |
|
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
|
|
|
|
|
1.26 |
A Geometric Approach for Grasping Unknown Objects With Multifingered Hands, (2020) |
Kiatos et al. |
Analytical |
✅ |
|
|
Sim |
Real |
Three-Finger |
Structured |
✅ |
|
✅ |
|
✅ |
|
1.24 |
Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter, (2020) |
Breyer et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
✅ |
|
1.23 |
Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards, (2016) |
Mahler et al. |
Sampling\Exemplar |
✅ |
✅ |
|
Sim |
Sim |
Two-Finger |
Singulated |
|
|
|
|
|
|
1.22 |
Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation, (2021) |
Li et al. |
Direct Regression |
|
✅ |
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
|
✅ |
|
|
✅ |
1.19 |
Learning to Detect Multi-Modal Grasps for Dexterous Grasping in Dense Clutter, (2021) |
Corsaro et al. |
Sampling |
|
|
|
Sim |
Real |
Multi-Fingered |
Structured |
✅ |
|
|
|
|
✅ |
1.19 |
Multifingered grasp planning via inference in deep neural networks: Outperforming sampling by learning differentiable models, (2020) |
Lu et al. |
Direct Regression |
|
|
|
Sim |
Real |
Multi-Fingered |
Singulated |
✅ |
|
|
|
|
|
1.18 |
DGCM-Net: Dense Geometrical Correspondence Matching Network for Incremental Experience-Based Robotic Grasping, (2020) |
Patten et al. |
Other |
|
|
|
Sim |
Real |
Two-Finger |
Singulated |
✅ |
|
|
✅ |
|
|
1.18 |
Deep Differentiable Grasp Planner for High-DOF Grippers, (2020) |
Liu et al. |
Direct Regression |
|
|
|
Sim |
Real |
Multi-Fingered |
|
✅ |
|
|
|
|
|
1.14 |
Visuo-Haptic Grasping of Unknown Objects based on Gaussian Process Implicit Surfaces and Deep Learning, (2019) |
Ottenhaus et al. |
Sampling |
✅ |
|
|
Sim |
Real |
Multi-Fingered |
Singulated |
✅ |
|
|
|
|
|
1.13 |
A self-supervised learning-based 6-DOF grasp planning method for manipulator, (2021) |
Peng et al. |
Sampling |
|
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
|
✅ |
|
✅ |
|
1.10 |
Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations, (2021) |
Jiang et al. |
Sampling |
✅ |
|
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
✅ |
|
|
|
1.08 |
Learning an end-to-end spatial grasp generation and refinement algorithm from simulation, (2021) |
Ni et al. |
Direct Regression |
|
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
|
✅ |
|
|
|
1.07 |
Grasp Planning with Incomplete Knowledge About the Object to be Grasped, (2019) |
Gonçalves & Lima |
Sampling |
|
|
|
Sim |
Real |
Three-Finger |
Singulated |
✅ |
|
|
|
|
|
1.07 |
Imitation Learning based Soft Robotic Grasping Control without Precise Estimation of Target Posture, (2021) |
Diaz Cortes et al. |
RL |
|
|
✅ |
Real |
Real |
Multi-Fingered |
Structured |
✅ |
|
|
|
|
|
1.06 |
MVGrasp: Real-Time Multi-View 3D Object Grasping in Highly Cluttered Environments, (2021) |
Kasaei & Kasaei |
Direct Regression |
|
|
|
Real |
Real |
Two-Finger |
\specialcell{Singulated\Piled} |
✅ |
|
✅ |
|
✅ |
|
1.04 |
Deep dexterous grasping of novel objects from a single view, (2019) |
Aktas et al. |
Sampling |
|
|
✅ |
Sim |
Real |
Multi-Fingered |
Singulated |
✅ |
|
|
✅ |
|
|
1.03 |
6-DOF Grasp Detection for Unknown Objects, (2020) |
Schaub & Schöttl |
Sampling |
|
|
|
Real |
Real |
Two-Finger |
Singulated |
|
|
|
|
|
|
1.03 |
Robust grasp detection with incomplete point cloud and complex background, (2021) |
Wang et al. |
Sampling |
|
|
|
Hybrid |
Real |
Two-Finger |
Structured |
✅ |
|
✅ |
|
✅ |
|
1.02 |
Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Clouds, (2021) |
Wang et al. |
RL |
|
|
✅ |
Sim |
Real |
Two-Finger |
Singulated |
✅ |
|
|
|
✅ |
|
1.02 |
Q-PointNet: Intelligent Stacked-Objects Grasping Using a RGBD Sensor and a Dexterous Hand, (2020) |
Wang & Lin |
Direct Regression |
|
|
|
Sim |
Real |
\specialcell{Two-Finger\Multi-Fingered} |
\specialcell{Structured\Piled} |
✅ |
|
|
|
|
|
1.01 |
6-DOF grasp planning of manipulator combined with self-supervised learning, (2021) |
Ren et al. |
Sampling |
|
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
|
✅ |
|
✅ |
|
1.01 |
Grasping of Unknown Objects Using Deep Convolutional Neural Networks Based on Depth Images, (2018) |
Schmidt et al. |
Direct Regression |
|
|
|
Sim |
Demo |
Multi-Fingered |
Singulated |
|
|
|
|
|
|
1.01 |
An End-to-End Spatial Grasp Prediction Model for Humanoid Multi-fingered Hand Using Deep Network, (2021) |
Li et al. |
Direct Regression |
|
|
|
Sim |
Real |
Multi-Fingered |
Singulated |
✅ |
|
|
|
|
|
1.01 |
PointNetGPD: Detecting Grasp Configurations from Point Sets, (2019) |
Liang et al. |
Sampling |
|
|
|
Sim |
Sim |
Three-Finger |
Piled |
✅ |
|
|
|
|
|
1.00 |
CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation, (2021) |
Wen et al. |
Sampling |
|
✅ |
|
Sim |
Real |
Two-Finger |
Piled |
✅ |
|
|
|
|
|
1.00 |
6-DOF Grasp Detection for Unknown Objects Using Surface Reconstruction, (2021) |
Schaub et al. |
Sampling |
✅ |
|
|
|
Real |
Two-Finger |
Singulated |
✅ |
|
|
|
|
|
1.00 |
Object Shell Reconstruction: Camera-centric Object Representation for Robotic Grasping, (2021) |
Chavan-Dafle et al. |
Analytical |
✅ |
|
|
Sim |
Real |
Two-Finger |
Structured |
✅ |
|
|
|
|
✅ |
1.00 |
Leveraging big data for grasp planning, (2015) |
Kappler et al. |
Sampling |
|
|
|
Sim |
Sim |
Three-Finger |
Sigulated |
|
|
|
|
|
|
0.91 |
Learning Collaborative Pushing and Grasping Policies in Dense Clutter, (2021) |
Tang et al. |
RL |
|
|
|
Sim |
Demo |
Two-Finger |
Piled |
✅ |
|
✅ |
|
|
|
0.82 |
Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping, (2020) |
Murali et al. |
Sampling |
|
|
|
Sim |
Demo |
Two-Finger |
Singulated |
|
|
|
|
|
✅ |
0.64 |
Learning 6-DOF Grasping Interaction via Deep Geometry-Aware 3D Representations, (2018) |
Yan et al. |
Sampling |
✅ |
|
✅ |
Sim |
Sim |
Two-Finger |
Singulated |
✅ |
|
|
✅ |
|
|
0.59 |
Leveraging Contact Forces for Learning to Grasp, (2019) |
Merzic et al. |
RL |
|
|
|
Sim |
Sim |
Three-Finger |
|
✅ |
|
|
|
|
|
0.50 |
Grasping in 6DoF: An Orthographic Approach to Generalized Grasp Affordance Predictions, (n.d.) |
Munoz |
Direct Regression |
|
|
|
Sim |
Demo |
Two-Finger |
Singulated |
✅ |
|
|
✅ |
|
|
0.50 |
Learning Dexterous Grasping with Object-Centric Visual Affordances, (2021) |
Mandikal & Grauman |
RL |
|
✅ |
|
Sim |
Sim |
Multi-Fingered |
Singulated |
✅ |
|
|
|
|
|
0.37 |
Robotic Grasping through Combined Image-Based Grasp Proposal and 3D Reconstruction, (2020) |
Yang et al. |
Direct Regression |
✅ |
|
|
Sim |
Sim |
Two-Finger |
Singulated |
✅ |
|
|
|
|
|
0.33 |
Modeling Grasp Motor Imagery Through Deep Conditional Generative Models, (2017) |
Veres et al. |
Sampling |
|
|
|
Sim |
Sim |
Three-Finger |
Singulated |
✅ |
|
|
|
|
|
0.33 |
Point Cloud Projective Analysis for Part-Based Grasp Planning, (2020) |
Monica & Aleotti |
GPD |
|
✅ |
|
- |
- |
|
|
|
|
|
|
|
|
0.26 |
Learning to Grasp 3D Objects using Deep Residual U-Nets, (2020) |
Li et al. |
Analytical |
|
✅ |
|
Sim |
Sim |
Two-Finger |
Singulated |
✅ |
|
|
|
|
|
0.13 |
GDN: A Coarse-To-Fine (C2F) Representation for End-To-End 6-DoF Grasp Detection, (2020) |
Jeng et al. |
Direct Regression |
|
|
|
Sim |
Sim |
Two-Finger |
\specialcell{Singulated\Structured} |
✅ |
|
✅ |
|
✅ |
✅ |
0.09 |
Model-less Estimation Method for Robot Grasping Parameters Using 3D Shape Primitive Approximation, (2018) |
Torii & Hashimoto |
Analytical |
✅ |
|
|
Sim |
Sim |
Three-Finger |
Singulated |
✅ |
|
|
|
|
|
0.09 |
6DOF grasp planning by optimizing a deep learning scoring function, (2017) |
Zhou & Hauser |
Sampling |
|
|
|
Sim |
Sim |
Three-Finger |
Singulated |
|
|
|
✅ |
|
|
0.08 |
Model-Free Grasp Learning Framework based on Physical Simulation, (2020) |
Riedlinger et al. |
Sampling |
|
|
|
Sim |
Sim |
Two-Finger |
Singulated |
|
|
|
|
|
✅ |
0.03 |
6-DoF grasp planning using fast 3D reconstruction and Grasp Quality CNN, (2020) |
Avigal et al. |
Shape Completion |
✅ |
|
|
Sim |
Sim |
Two-Finger |
Singulated |
✅ |
|
|
|
|
|
0.02 |
Learning 6DoF Grasping Using Reward-Consistent Demonstration, (2021) |
Kawakami et al. |
RL |
|
|
✅ |
Sim |
Sim |
Two-Finger |
Singulated |
|
|
|
|
|
|
0.00 |