Datasets › NBMOD
NBMOD (Noisy Background Multi-Object Dataset for grasp detection)
Introduction
NBMOD is a dataset created for researching the task of specific object grasp detection by robots in noisy environments. The dataset comprises three subsets: Simple background Single-object Subset (SSS), Noisy background Single-object Subset (NSS), and Multi-Object grasp detection Subset (MOS). The SSS subset contains 13,500 images, the NSS subset contains 13,000 images, and the MOS subset contains 5,000 images.
What are the differences of NBMOD?
Unlike the renowned Cornell dataset, the NBMOD dataset differs in that its backgrounds are no longer simple whiteboards. The NSS and MOS subsets comprise a substantial number of images with noise, where this noise corresponds to interfering objects unrelated to the target objects for grasping detection. Moreover, in the MOS subset, each image encompasses multiple target objects for grasp detection, which closely resembles real-world working environments.
Benchmarks archive 2025-07-28
All 1 leaderboard whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.
| First row (archive order) | Paper | Code | ||||
|---|---|---|---|---|---|---|
| Robotic Grasping | NBMOD | RA-GraspNet (GraspNet with Rotation Anchor) Acc SSS: 99.2%, NSS: 98.8% | NBMOD: Find It and Grasp It in Noisy Background | kmittle/grasp-detection-nbmod | 1 | Compare |
Papers archive 2025-07-28
1 shown of 1 paper with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 1. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.
| Date | Samples run Syntology | |||
|---|---|---|---|---|
| NBMOD: Find It and Grasp It in Noisy Background | 1 | 1 | 17 Jun 2023 | not harvested |
Dataset loaders archive 2025-07-28
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Tasks archive 2025-07-28
License archive 2025-07-28
Modalities archive 2025-07-28
Languages archive 2025-07-28
Variants archive 2025-07-28
- NBMOD
1 variant name, as the archive lists them.
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