{"url":"/dataset/graspnet-1billion","name":"GraspNet-1Billion","full_name":null,"description_markdown":"**GraspNet-1Billion** provides large-scale training data and a standard evaluation platform for the task of general robotic grasping. The dataset contains 97,280 RGB-D image with over one billion grasp poses.","description_withheld":null,"homepage":"https://graspnet.net/","introduced_date":"2020-06-01","introduced_date_note":null,"introduced_by":{"paper":"/paper/graspnet-1billion-a-large-scale-benchmark-for","title":"GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping","first_author":"Hao-Shu Fang","url":null},"license":null,"modalities":[{"name":"RGB-D","url":"/datasets/modality/rgb-d"}],"tasks":[{"name":"Robotic Grasping","url":"/task/robotic-grasping","datasets_with_task":"/datasets/task/robotic-grasping"}],"languages":[],"variants":["GraspNet-1Billion"],"data_loaders":[],"num_papers_in_archive":29,"source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28"},"benchmarks":[{"leaderboard":"/sota/robotic-grasping-on-graspnet-1billion","task":"Robotic Grasping","dataset_variant":"GraspNet-1Billion","rows":8,"metrics":["mAP","AP_seen","AP_similar","AP_novel"],"first_row_in_archive_order":{"model":"FlexLoG-CD","paper":null,"metrics":{"AP_novel":"30.04","AP_seen":"72.81","AP_similar":"65.21","mAP":"56.02"},"code_links":[]},"note":"rows are the archive's own order at snapshot; nothing here re-ranks them"}],"papers_with_a_benchmark_row":[{"paper":"/paper/grasp-the-graph-gtg-2-0-ensemble-of-gnns-for","title":"Grasp the Graph (GtG) 2.0: Ensemble of GNNs for High-Precision Grasp Pose Detection in Clutter","date":"2025-05-05","rows_on_this_dataset":1,"code_links":0,"syntology":null},{"paper":"/paper/graspness-discovery-in-clutters-for-fast-and-1","title":"Graspness Discovery in Clutters for Fast and Accurate Grasp Detection","date":"2024-06-17","rows_on_this_dataset":1,"code_links":2,"syntology":{"read_at":"2026-09-24T18:15:14+00:00","samples_harvested":3,"samples_ran":1,"samples_unverified":2,"pointer_only_for_licence":3,"claim":"Per-sample execution on synthesized fixtures; not a correctness claim."}},{"paper":"/paper/efficient-heatmap-guided-6-dof-grasp-1","title":"Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes","date":"2024-03-27","rows_on_this_dataset":2,"code_links":1,"syntology":null},{"paper":"/paper/towards-scale-balanced-6-dof-grasp-detection","title":"Towards Scale Balanced 6-DoF Grasp Detection in Cluttered Scenes","date":"2022-12-10","rows_on_this_dataset":1,"code_links":1,"syntology":null},{"paper":"/paper/graspnet-1billion-a-large-scale-benchmark-for","title":"GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping","date":"2020-06-01","rows_on_this_dataset":2,"code_links":1,"syntology":null}],"syntology_totals":{"read_at":"2026-09-24T18:15:14+00:00","papers_with_samples":1,"samples_harvested":3,"samples_ran":1,"samples_unverified":2,"pointer_only_for_licence":3,"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."}