{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/acronym-a-large-scale-grasp-dataset-based-on","title":"ACRONYM: A Large-Scale Grasp Dataset Based on Simulation","arxiv_id":"2011.09584","date":"2020-11-18","proceeding":null,"authors":["Clemens Eppner","Arsalan Mousavian","Dieter Fox"],"abstract":"We introduce ACRONYM, a dataset for robot grasp planning based on physics simulation. The dataset contains 17.7M parallel-jaw grasps, spanning 8872 objects from 262 different categories, each labeled with the grasp result obtained from a physics simulator. We show the value of this large and diverse dataset by using it to train two state-of-the-art learning-based grasp planning algorithms. Grasp performance improves significantly when compared to the original smaller dataset. Data and tools can be accessed at https://sites.google.com/nvidia.com/graspdataset.","url_abs":"https://arxiv.org/abs/2011.09584v1","url_pdf":"https://arxiv.org/pdf/2011.09584v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"acronym-a-large-scale-grasp-dataset-based-on","repo_url":"https://github.com/NVlabs/acronym","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":{"status":"unanswered"}},{"paper_slug":"acronym-a-large-scale-grasp-dataset-based-on","repo_url":"https://github.com/TheCamusean/grasp_diffusion","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[],"methods":[],"datasets_introduced":[{"slug":"acronym","name":"ACRONYM","full_name":""}],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2011.09584","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}