{"url":"/dataset/grab","name":"GRAB","full_name":null,"description_markdown":"**GRAB** is a dataset of full-body motions interacting and grasping 3D objects. It contains accurate finger and facial motions as well as the contact between the objects and body. It contains 5 male and 5 female participants and 4 different motion intents.\nThe GRAB dataset also contains binary contact maps between the body and objects.\n\nSource: [https://github.com/otaheri/GRAB](https://github.com/otaheri/GRAB)\nImage Source: [https://github.com/otaheri/GRAB](https://github.com/otaheri/GRAB)","description_withheld":null,"homepage":"https://github.com/otaheri/GRAB","introduced_date":null,"introduced_date_note":null,"introduced_by":{"paper":"/paper/grab-a-dataset-of-whole-body-human-grasping","title":"GRAB: A Dataset of Whole-Body Human Grasping of Objects","first_author":"Omid Taheri","url":null},"license":null,"modalities":[{"name":"Images","url":"/datasets/modality/images"}],"tasks":[{"name":"Grasp Contact Prediction","url":"/task/human-grasp-contact-prediction","datasets_with_task":"/datasets/task/human-grasp-contact-prediction"},{"name":"Grasp Generation","url":"/task/grasp-generation","datasets_with_task":"/datasets/task/grasp-generation"},{"name":"Controllable Grasp Generation","url":"/task/controllable-grasp-generation","datasets_with_task":"/datasets/task/controllable-grasp-generation"}],"languages":[],"variants":["GRAB"],"data_loaders":[{"repo":"https://github.com/otaheri/GRAB","url":"https://github.com/otaheri/GRAB","frameworks":["pytorch"]}],"num_papers_in_archive":72,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/controllable-grasp-generation-on-grab","task":"Controllable Grasp Generation","dataset_variant":"GRAB","rows":1,"metrics":["Average MPJPE (mm)"],"first_row_in_archive_order":{"model":"ClickDiff","paper":"/paper/clickdiff-click-to-induce-semantic-contact","metrics":{"Average MPJPE (mm)":"40.57"},"code_links":[]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/clickdiff-click-to-induce-semantic-contact","title":"ClickDiff: Click to Induce Semantic Contact Map for Controllable Grasp Generation with Diffusion Models","date":"2024-07-28","rows_on_this_dataset":1,"code_links":0,"syntology":null}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":0,"samples_harvested":0,"samples_ran":0,"samples_unverified":0,"pointer_only_for_licence":0,"papers_with_no_sample_that_ran":0,"note":"the per-paper counts above, summed; not a rate"},"papers_note":"The archive never published its papers-using-dataset list; these are papers with a leaderboard row on this dataset's benchmarks."}