{"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/sim-mees-modular-end-effector-system-grasping","title":"Sim-MEES: Modular End-Effector System Grasping Dataset for Mobile Manipulators in Cluttered Environments","arxiv_id":"2305.10580","date":"2023-05-17","proceeding":null,"authors":["Juncheng Li","David J. Cappelleri"],"abstract":"In this paper, we present Sim-MEES: a large-scale synthetic dataset that contains 1,550 objects with varying difficulty levels and physics properties, as well as 11 million grasp labels for mobile manipulators to plan grasps using different gripper modalities in cluttered environments. Our dataset generation process combines analytic models and dynamic simulations of the entire cluttered environment to provide accurate grasp labels. We provide a detailed study of our proposed labeling process for both parallel jaw grippers and suction cup grippers, comparing them with state-of-the-art methods to demonstrate how Sim-MEES can provide precise grasp labels in cluttered environments.","url_abs":"https://arxiv.org/abs/2305.10580v1","url_pdf":"https://arxiv.org/pdf/2305.10580v1.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":"sim-mees-modular-end-effector-system-grasping","repo_url":"https://github.com/junchengli1/sim-mees","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"dataset-generation","task_name":"Dataset Generation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}