6dof graspnet: Variational grasp generation for object manipulation, (2019) 
Mousavian et al. 
Sampling 



Sim 
Real 
TwoFinger 
Singulated 
✅ 
✅ 




2.36 
Graspnet1billion: a largescale benchmark for general object grasping, (2020) 
Fang et al. 
Direct Regression 



Hybrid 
Real 
TwoFinger 
Structured 
✅ 




✅ 
2.35 
Grasp pose detection in point clouds, (2017) 
ten Pas et al. 
Sampling 



Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 



2.22 
High precision grasp pose detection in dense clutter, (2016) 
Gualtieri et al. 
Sampling 



Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 



1.95 
6dof grasping for targetdriven object manipulation in clutter, (2020) 
Murali et al. 
Sampling 



Sim 
Real 
TwoFinger 
Structured 
✅ 
✅ 




1.94 
Shape completion enabled robotic grasping, (2017) 
Varley et al. 
Analytical 
✅ 


Sim 
Real 
ThreeFinger 
\specialcell{Singulated\Structured} 
✅ 



✅ 

1.88 
Grasp Proposal Networks: An EndtoEnd Solution for Visual Learning of Robotic Grasps, (2020) 
Wu et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Singulated 
✅ 
✅ 




1.69 
Detecting object affordances with Convolutional Neural Networks, (2016) 
Nguyen et al. 
Analytical 

✅ 

Real 
Real 
MultiFingered 
Singulated 
✅ 





1.64 
Learning Object Grasping for Soft Robot Hands, (2018) 
Choi et al. 
Direct Regression 



Real 
Real 
Soft Hand 
Singulated 
✅ 


✅ 


1.60 
ContactGraspNet: Efficient 6DoF Grasp Generation in Cluttered Scenes, (2021) 
Sundermeyer et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Structured 
✅ 
✅ 




1.60 
Grasping in the Wild: Learning 6DoF ClosedLoop Grasping From LowCost Demonstrations, (2020) 
Song et al. 
RL 


✅ 
Real 
Real 
TwoFinger 
Piled 
✅ 





1.58 
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping, (2020) 
Van der Merwe et al. 
Sampling 



Sim 
Real 
MultiFingered 
Singulated 
✅ 





1.57 
Planning MultiFingered Grasps as Probabilistic Inference in a Learned Deep Network, (2019) 
Lu et al. 
Sampling 



Sim 
Real 
\specialcell{TwoFinger\MultiFingered} 
Singulated 
✅ 


✅ 


1.54 
Objectbased affordances detection with Convolutional Neural Networks and dense Conditional Random Fields, (2017) 
Nguyen et al. 
Analytical 



Real* 
Real 
MultiFingered 
Piled 
✅ 





1.54 
Generating multifingered robotic grasps via deep learning, (2015) 
Varley et al. 
Sampling 



Sim 
Real 
ThreeFinger 
Singulated 
✅ 



✅ 

1.49 
S4g: Amodal singleview singleshot se (3) grasp detection in cluttered scenes, (2020) 
Qin et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 



1.45 
UniGrasp: Learning a Unified Model to Grasp With Multifingered Robotic Hands, (2020) 
Shao et al. 
Direct Regression 



Sim 
Real 
MultiFingered 
Singulated 
✅ 





1.45 
kPAMSC: Generalizable Manipulation Planning using KeyPoint Affordance and Shape Completion, (2019) 
Gao & Tedrake 
Analytical 
✅ 
✅ 

Sim 
Real 
TwoFinger 
Singulated 
✅ 





1.43 
Regnet: regionbased grasp network for singleshot grasp detection in point clouds, (2020) 
Zhao et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 



1.42 
Beyond topgrasps through scene completion, (2020) 
Lundell et al. 
Sampling 
✅ 


Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 

✅ 

1.41 
Learning TaskOriented Grasping From Human Activity Datasets, (2020) 
Kokic et al. 
Direct Regression 

✅ 

Sim 
Real 
TwoFinger 
Singulated 





✅ 
1.41 
Graspness Discovery in Clutters for Fast and Accurate Grasp Detection, (2021) 
Wang et al. 
Direct Regression 



Hybrid 
Real 
TwoFinger 
Piled 
✅ 




✅ 
1.40 
Learning to Generate 6DoF Grasp Poses with Reachability Awareness, (2020) 
Lou et al. 
Sampling 



Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 



1.38 
Robust Grasp Planning Over Uncertain Shape Completions, (2019) 
Lundell et al. 
Analytical 
✅ 


Sim 
Real 
ThreeFinger 
Singulated 
✅ 



✅ 

1.37 
RGB Matters: Learning 7DoF Grasp Poses on Monocular RGBD Images, (2021) 
Gou et al. 
Direct Regression 



Hybrid 
Real 
TwoFinger 
Structured 
✅ 




✅ 
1.36 
MultiFinGAN: Generative CoarseToFine Sampling of MultiFinger Grasps, (2020) 
Lundell et al. 
Sampling 
✅ 


Sim 
Real 
ThreeFinger 
Singulated 
✅ 



✅ 

1.36 
CollisionAware TargetDriven Object Grasping in Constrained Environments, (2021) 
Lou et al. 
Sampling 



Sim 
Real 
TwoFinger 
Structured 
✅ 





1.34 
Transferable Active Grasping and Real Embodied Dataset, (2020) 
Chen et al. 
RL 


✅ 
Sim 
Real 
TwoFinger 
Piled 
✅ 





1.34 
Hierarchical 6DoF Grasping with Approaching Direction Selection, (2020) 
Choi et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
\specialcell{Structured\Piled} 
✅ 



✅ 

1.32 
6DoF Contrastive Grasp Proposal Network, (2021) 
Zhu et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Singulated 
✅ 



✅ 

1.32 
Robot Learning of 6 DoF Grasping using Modelbased Adaptive Primitives, (2021) 
Berscheid et al. 
RL 



Real 
Real 
TwoFinger 
Piled 
✅ 



✅ 

1.32 
GPR: Grasp Pose Refinement Network for Cluttered Scenes, (2021) 
Wei et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Piled 
✅ 
✅ 
✅ 



1.32 
Generating Grasp Poses for a HighDOF Gripper Using Neural Networks, (2019) 
Liu et al. 
Direct Regression 



Sim 
Real 
MultiFingered 
Singulated 






1.31 
PointNet++ Grasping: Learning An Endtoend Spatial Grasp Generation Algorithm from Sparse Point Clouds, (2020) 
Ni et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 

✅ 

1.30 
PixelAttentive Policy Gradient for MultiFingered Grasping in Cluttered Scenes, (2019) 
Wu et al. 
RL 



Sim 
Real 
ThreeFinger 
Piled 
✅ 





1.30 
MultiFingered Active Grasp Learning, (2020) 
Lu et al. 
Active Learning 



Sim 
Real 
MultiFingered 
Singulated 
✅ 





1.28 
Generative Attention Learning: a “GenerAL” framework for highperformance multifingered grasping in clutter, (2020) 
Wu et al. 
RL 



Sim 
Real 
\specialcell{TwoFinger\MultiFingered} 
\specialcell{Singulated\Piled} 
✅ 





1.28 
Learning Grasp Affordance Reasoning Through Semantic Relations, (2019) 
Ardón et al. 
Direct Regression 

✅ 

Sim 
Real 
TwoFinger 
Singulated 
✅ 





1.28 
Robotic PickandPlace With Uncertain Object Instance Segmentation and Shape Completion, (2021) 
Gualtieri & Platt 
Analytical 
✅ 


Sim 
Real 
TwoFinger 
Structured 
✅ 

✅ 



1.26 
DDGC: Generative Deep Dexterous Grasping in Clutter, (2021) 
Lundell et al. 
Sampling 
✅ 


Sim 
Real 
ThreeFinger 
Structured 


✅ 

✅ 

1.26 
Learning 6dof grasping and pickplace using attention focus, (2018) 
Gualtieri & Platt 
RL 



Sim 
Real 
TwoFinger 
Structured 
✅ 





1.26 
A Geometric Approach for Grasping Unknown Objects With Multifingered Hands, (2020) 
Kiatos et al. 
Analytical 
✅ 


Sim 
Real 
ThreeFinger 
Structured 
✅ 

✅ 

✅ 

1.24 
Volumetric Grasping Network: Realtime 6 DOF Grasp Detection in Clutter, (2020) 
Breyer et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 

✅ 

1.23 
DexNet 1.0: A cloudbased network of 3D objects for robust grasp planning using a MultiArmed Bandit model with correlated rewards, (2016) 
Mahler et al. 
Sampling\Exemplar 
✅ 
✅ 

Sim 
Sim 
TwoFinger 
Singulated 






1.22 
Simultaneous Semantic and Collision Learning for 6DoF Grasp Pose Estimation, (2021) 
Li et al. 
Direct Regression 

✅ 

Sim 
Real 
TwoFinger 
Structured 
✅ 

✅ 


✅ 
1.19 
Learning to Detect MultiModal Grasps for Dexterous Grasping in Dense Clutter, (2021) 
Corsaro et al. 
Sampling 



Sim 
Real 
MultiFingered 
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 
MultiFingered 
Singulated 
✅ 





1.18 
DGCMNet: Dense Geometrical Correspondence Matching Network for Incremental ExperienceBased Robotic Grasping, (2020) 
Patten et al. 
Other 



Sim 
Real 
TwoFinger 
Singulated 
✅ 


✅ 


1.18 
Deep Differentiable Grasp Planner for HighDOF Grippers, (2020) 
Liu et al. 
Direct Regression 



Sim 
Real 
MultiFingered 

✅ 





1.14 
VisuoHaptic Grasping of Unknown Objects based on Gaussian Process Implicit Surfaces and Deep Learning, (2019) 
Ottenhaus et al. 
Sampling 
✅ 


Sim 
Real 
MultiFingered 
Singulated 
✅ 





1.13 
A selfsupervised learningbased 6DOF grasp planning method for manipulator, (2021) 
Peng et al. 
Sampling 



Sim 
Real 
TwoFinger 
Structured 
✅ 

✅ 

✅ 

1.10 
Synergies Between Affordance and Geometry: 6DoF Grasp Detection via Implicit Representations, (2021) 
Jiang et al. 
Sampling 
✅ 


Sim 
Real 
TwoFinger 
Piled 
✅ 

✅ 



1.08 
Learning an endtoend spatial grasp generation and refinement algorithm from simulation, (2021) 
Ni et al. 
Direct Regression 



Sim 
Real 
TwoFinger 
Structured 
✅ 

✅ 



1.07 
Grasp Planning with Incomplete Knowledge About the Object to be Grasped, (2019) 
Gonçalves & Lima 
Sampling 



Sim 
Real 
ThreeFinger 
Singulated 
✅ 





1.07 
Imitation Learning based Soft Robotic Grasping Control without Precise Estimation of Target Posture, (2021) 
Diaz Cortes et al. 
RL 


✅ 
Real 
Real 
MultiFingered 
Structured 
✅ 





1.06 
MVGrasp: RealTime MultiView 3D Object Grasping in Highly Cluttered Environments, (2021) 
Kasaei & Kasaei 
Direct Regression 



Real 
Real 
TwoFinger 
\specialcell{Singulated\Piled} 
✅ 

✅ 

✅ 

1.04 
Deep dexterous grasping of novel objects from a single view, (2019) 
Aktas et al. 
Sampling 


✅ 
Sim 
Real 
MultiFingered 
Singulated 
✅ 


✅ 


1.03 
6DOF Grasp Detection for Unknown Objects, (2020) 
Schaub & Schöttl 
Sampling 



Real 
Real 
TwoFinger 
Singulated 






1.03 
Robust grasp detection with incomplete point cloud and complex background, (2021) 
Wang et al. 
Sampling 



Hybrid 
Real 
TwoFinger 
Structured 
✅ 

✅ 

✅ 

1.02 
GoalAuxiliary ActorCritic for 6D Robotic Grasping with Point Clouds, (2021) 
Wang et al. 
RL 


✅ 
Sim 
Real 
TwoFinger 
Singulated 
✅ 



✅ 

1.02 
QPointNet: Intelligent StackedObjects Grasping Using a RGBD Sensor and a Dexterous Hand, (2020) 
Wang & Lin 
Direct Regression 



Sim 
Real 
\specialcell{TwoFinger\MultiFingered} 
\specialcell{Structured\Piled} 
✅ 





1.01 
6DOF grasp planning of manipulator combined with selfsupervised learning, (2021) 
Ren et al. 
Sampling 



Sim 
Real 
TwoFinger 
Structured 
✅ 

✅ 

✅ 

1.01 
Grasping of Unknown Objects Using Deep Convolutional Neural Networks Based on Depth Images, (2018) 
Schmidt et al. 
Direct Regression 



Sim 
Demo 
MultiFingered 
Singulated 






1.01 
An EndtoEnd Spatial Grasp Prediction Model for Humanoid Multifingered Hand Using Deep Network, (2021) 
Li et al. 
Direct Regression 



Sim 
Real 
MultiFingered 
Singulated 
✅ 





1.01 
PointNetGPD: Detecting Grasp Configurations from Point Sets, (2019) 
Liang et al. 
Sampling 



Sim 
Sim 
ThreeFinger 
Piled 
✅ 





1.00 
CaTGrasp: Learning CategoryLevel TaskRelevant Grasping in Clutter from Simulation, (2021) 
Wen et al. 
Sampling 

✅ 

Sim 
Real 
TwoFinger 
Piled 
✅ 





1.00 
6DOF Grasp Detection for Unknown Objects Using Surface Reconstruction, (2021) 
Schaub et al. 
Sampling 
✅ 



Real 
TwoFinger 
Singulated 
✅ 





1.00 
Object Shell Reconstruction: Cameracentric Object Representation for Robotic Grasping, (2021) 
ChavanDafle et al. 
Analytical 
✅ 


Sim 
Real 
TwoFinger 
Structured 
✅ 




✅ 
1.00 
Leveraging big data for grasp planning, (2015) 
Kappler et al. 
Sampling 



Sim 
Sim 
ThreeFinger 
Sigulated 






0.91 
Learning Collaborative Pushing and Grasping Policies in Dense Clutter, (2021) 
Tang et al. 
RL 



Sim 
Demo 
TwoFinger 
Piled 
✅ 

✅ 



0.82 
Same Object, Different Grasps: Data and Semantic Knowledge for TaskOriented Grasping, (2020) 
Murali et al. 
Sampling 



Sim 
Demo 
TwoFinger 
Singulated 





✅ 
0.64 
Learning 6DOF Grasping Interaction via Deep GeometryAware 3D Representations, (2018) 
Yan et al. 
Sampling 
✅ 

✅ 
Sim 
Sim 
TwoFinger 
Singulated 
✅ 


✅ 


0.59 
Leveraging Contact Forces for Learning to Grasp, (2019) 
Merzic et al. 
RL 



Sim 
Sim 
ThreeFinger 

✅ 





0.50 
Grasping in 6DoF: An Orthographic Approach to Generalized Grasp Affordance Predictions, (n.d.) 
Munoz 
Direct Regression 



Sim 
Demo 
TwoFinger 
Singulated 
✅ 


✅ 


0.50 
Learning Dexterous Grasping with ObjectCentric Visual Affordances, (2021) 
Mandikal & Grauman 
RL 

✅ 

Sim 
Sim 
MultiFingered 
Singulated 
✅ 





0.37 
Robotic Grasping through Combined ImageBased Grasp Proposal and 3D Reconstruction, (2020) 
Yang et al. 
Direct Regression 
✅ 


Sim 
Sim 
TwoFinger 
Singulated 
✅ 





0.33 
Modeling Grasp Motor Imagery Through Deep Conditional Generative Models, (2017) 
Veres et al. 
Sampling 



Sim 
Sim 
ThreeFinger 
Singulated 
✅ 





0.33 
Point Cloud Projective Analysis for PartBased Grasp Planning, (2020) 
Monica & Aleotti 
GPD 

✅ 

 
 








0.26 
Learning to Grasp 3D Objects using Deep Residual UNets, (2020) 
Li et al. 
Analytical 

✅ 

Sim 
Sim 
TwoFinger 
Singulated 
✅ 





0.13 
GDN: A CoarseToFine (C2F) Representation for EndToEnd 6DoF Grasp Detection, (2020) 
Jeng et al. 
Direct Regression 



Sim 
Sim 
TwoFinger 
\specialcell{Singulated\Structured} 
✅ 

✅ 

✅ 
✅ 
0.09 
Modelless Estimation Method for Robot Grasping Parameters Using 3D Shape Primitive Approximation, (2018) 
Torii & Hashimoto 
Analytical 
✅ 


Sim 
Sim 
ThreeFinger 
Singulated 
✅ 





0.09 
6DOF grasp planning by optimizing a deep learning scoring function, (2017) 
Zhou & Hauser 
Sampling 



Sim 
Sim 
ThreeFinger 
Singulated 



✅ 


0.08 
ModelFree Grasp Learning Framework based on Physical Simulation, (2020) 
Riedlinger et al. 
Sampling 



Sim 
Sim 
TwoFinger 
Singulated 





✅ 
0.03 
6DoF grasp planning using fast 3D reconstruction and Grasp Quality CNN, (2020) 
Avigal et al. 
Shape Completion 
✅ 


Sim 
Sim 
TwoFinger 
Singulated 
✅ 





0.02 
Learning 6DoF Grasping Using RewardConsistent Demonstration, (2021) 
Kawakami et al. 
RL 


✅ 
Sim 
Sim 
TwoFinger 
Singulated 






0.00 