{"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/pointnetgpd-detecting-grasp-configurations","title":"PointNetGPD: Detecting Grasp Configurations from Point Sets","arxiv_id":"1809.06267","date":"2018-09-17","proceeding":null,"authors":["Hongzhuo Liang","Xiaojian Ma","Shuang Li","Michael Görner","Song Tang","Bin Fang","Fuchun Sun","Jianwei Zhang"],"abstract":"In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared to recent grasp evaluation metrics that are based on handcrafted depth features and a convolutional neural network (CNN), our proposed PointNetGPD is lightweight and can directly process the 3D point cloud that locates within the gripper for grasp evaluation. Taking the raw point cloud as input, our proposed grasp evaluation network can capture the complex geometric structure of the contact area between the gripper and the object even if the point cloud is very sparse. To further improve our proposed model, we generate a larger-scale grasp dataset with 350k real point cloud and grasps with the YCB object set for training. The performance of the proposed model is quantitatively measured both in simulation and on robotic hardware. Experiments on object grasping and clutter removal show that our proposed model generalizes well to novel objects and outperforms state-of-the-art methods. Code and video are available at \\href{https://lianghongzhuo.github.io/PointNetGPD}{https://lianghongzhuo.github.io/PointNetGPD}","url_abs":"http://arxiv.org/abs/1809.06267v3","url_pdf":"http://arxiv.org/pdf/1809.06267v3.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":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"pointnetgpd-detecting-grasp-configurations","repo_url":"https://github.com/lianghongzhuo/PointNetGPD","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"pointnetgpd-detecting-grasp-configurations","repo_url":"https://github.com/Hymwgk/PointNetGPD","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"pointnetgpd-detecting-grasp-configurations","repo_url":"https://github.com/hz-ants/PointNetGPD","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null},{"paper_slug":"pointnetgpd-detecting-grasp-configurations","repo_url":"https://github.com/navjot95/pointNetGraspClassifier","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1809.06267","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"1809.06267"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/Hymwgk/PointNetGPD","reach":null},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/lianghongzhuo/PointNetGPD","reach":null},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/navjot95/pointNetGraspClassifier","reach":{"status":"ok"}},{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/hz-ants/PointNetGPD","reach":null}],"summary":{"ran_fixture":1,"ran_draft_wrong":3,"unverified":4},"by_repo_kind":{"official":{"samples":3,"ran":1,"repositories":1},"listed":{"samples":5,"ran":3,"repositories":2}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"b13c9c0960df9ee1","entry":"filterDiscontinuities","repo":"hz-ants/PointNetGPD","repo_kind":"listed","path":"PointNetGPD/ycb_cloud_generate.py","file_url":"https://github.com/hz-ants/PointNetGPD/blob/HEAD/PointNetGPD/ycb_cloud_generate.py","link_basis":"first_harvest_node","language":"python","status":"ran_fixture","verification_level":1,"contract_check":"RAISES","metamorphic_tier":"invariant","behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"b13c9c0960df9ee1"}},{"code_sha256_prefix":"2009a9e0cd64682e","entry":"get_file_name","repo":"Hymwgk/PointNetGPD","repo_kind":"listed","path":"apps/generate-dataset-canny.py","file_url":"https://github.com/Hymwgk/PointNetGPD/blob/HEAD/apps/generate-dataset-canny.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"2009a9e0cd64682e"}},{"code_sha256_prefix":"eb096107619c2f49","entry":"im2col","repo":"hz-ants/PointNetGPD","repo_kind":"listed","path":"PointNetGPD/ycb_cloud_generate.py","file_url":"https://github.com/hz-ants/PointNetGPD/blob/HEAD/PointNetGPD/ycb_cloud_generate.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"MISDECLARED","metamorphic_tier":"invariant","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"eb096107619c2f49"}},{"code_sha256_prefix":"5124350321202e42","entry":"my_collate","repo":"lianghongzhuo/PointNetGPD","repo_kind":"official","path":"PointNetGPD/main_1v.py","file_url":"https://github.com/lianghongzhuo/PointNetGPD/blob/HEAD/PointNetGPD/main_1v.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":true,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"5124350321202e42"}},{"code_sha256_prefix":"0ea5fbc9913d70dd","entry":"registerDepthMap","repo":"hz-ants/PointNetGPD","repo_kind":"listed","path":"PointNetGPD/ycb_cloud_generate.py","file_url":"https://github.com/hz-ants/PointNetGPD/blob/HEAD/PointNetGPD/ycb_cloud_generate.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"0ea5fbc9913d70dd"}},{"code_sha256_prefix":"a2de5433924b3dfd","entry":"remove_table_points","repo":"lianghongzhuo/PointNetGPD","repo_kind":"official","path":"dex-net/apps/kinect2grasp.py","file_url":"https://github.com/lianghongzhuo/PointNetGPD/blob/HEAD/dex-net/apps/kinect2grasp.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"a2de5433924b3dfd"}},{"code_sha256_prefix":"9a9763f206f7237b","entry":"remove_table_points","repo":"hz-ants/PointNetGPD","repo_kind":"listed","path":"dex-net/apps/kinect2grasp_python2.py","file_url":"https://github.com/hz-ants/PointNetGPD/blob/HEAD/dex-net/apps/kinect2grasp_python2.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"9a9763f206f7237b"}},{"code_sha256_prefix":"51b8ec2235fca87b","entry":"test","repo":"lianghongzhuo/PointNetGPD","repo_kind":"official","path":"PointNetGPD/main_1v.py","file_url":"https://github.com/lianghongzhuo/PointNetGPD/blob/HEAD/PointNetGPD/main_1v.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"51b8ec2235fca87b"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}