Grasp Generation

Benchmarks archive 2025-07-28

No benchmark for this task in the archive.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

4 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

2 subtasks in the archive's task tree.

Parent tasks archive 2025-07-28

Most implemented papers archive 2025-07-28

21 shown of 21 papers with code (52 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• Grasping Field: Learning Implicit Representations for Human Grasps
  10 Aug 2020 4 repositories listed
  Specifically, our generative model is able to synthesize high-quality human grasps, given only on a 3D object point cloud.
• Diffusion-based Generation, Optimization, and Planning in 3D Scenes
  15 Jan 2023 2 repositories listed Syntology ran 5 of 5 samples · 0 unverified
  SceneDiffuser provides a unified model for solving scene-conditioned generation, optimization, and planning.
• GRAB: A Dataset of Whole-Body Human Grasping of Objects
  25 Aug 2020 2 repositories listed
  Training computers to understand, model, and synthesize human grasping requires a rich dataset containing complex 3D object shapes, detailed contact information, hand pose and shape, and the 3D body motion over time.
• 6-DOF GraspNet: Variational Grasp Generation for Object Manipulation
  25 May 2019 2 repositories listed Syntology ran 0 of 22 samples · 22 unverified · 22 pointer-only (licence)
  We evaluate our approach in simulation and real-world robot experiments.
• A Unified Transformer-Based Framework with Pretraining For Whole Body Grasping Motion Generation
  1 Jul 2025 1 repository listed
  Accepted in the ICIP 2025 We present a novel transformer-based framework for whole-body grasping that addresses both pose generation and motion infilling, enabling realistic and stable object interactions.
• Bring Your Own Grasp Generator: Leveraging Robot Grasp Generation for Prosthetic Grasping
  1 Mar 2025 1 repository listed
  Our system initiates the approach-to-grasp action based on user's command and automatically configures the DoFs of a prosthetic hand.
• Decomposed Vector-Quantized Variational Autoencoder for Human Grasp Generation
  19 Jul 2024 1 repository listed Syntology ran 7 of 8 samples · 1 unverified · 8 pointer-only (licence)
  Generating realistic human grasps is a crucial yet challenging task for applications involving object manipulation in computer graphics and robotics.
• Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
  7 May 2024 1 repository listed Syntology ran 3 of 3 samples · 0 unverified · 1 pointer-only (licence)
  ASK-Splat enables geometric, semantic, and affordance understanding of 3D scenes, which is critical in many robotics tasks; (ii) SEE-Splat, a real-time scene-editing module using 3D semantic masking and infilling to…
• Efficient Heatmap-Guided 6-Dof Grasp Detection in Cluttered Scenes
  27 Mar 2024 1 repository listed
  Specifically, Gaussian encoding and the grid-based strategy are applied to predict grasp heatmaps as guidance to aggregate local points into graspable regions and provide global semantic information.
• UGG: Unified Generative Grasping
  28 Nov 2023 1 repository listed Syntology ran 6 of 7 samples · 1 unverified
  Generation-based methods that generate grasping postures conditioned on the object can often produce diverse grasping, but they are insufficient for high grasping success due to lack of discriminative information.
• Toward a Plug-and-Play Vision-Based Grasping Module for Robotics
  6 Oct 2023 1 repository listed
  This framework addresses two main issues: the lack of an off-the-shelf vision module for detecting object pose and the generalization of QD trajectories to the whole robot operational space.
• ContactGen: Generative Contact Modeling for Grasp Generation
  5 Oct 2023 1 repository listed Syntology ran 5 of 8 samples · 3 unverified · 8 pointer-only (licence)
  This paper presents a novel object-centric contact representation ContactGen for hand-object interaction.
• KGNv2: Separating Scale and Pose Prediction for Keypoint-based 6-DoF Grasp Synthesis on RGB-D input
  9 Mar 2023 1 repository listed
  We propose a new 6-DoF grasp pose synthesis approach from 2D/2.
• HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios
  20 Dec 2022 1 repository listed
  Estimating 6D object poses is a major challenge in 3D computer vision.
• Keypoint-GraspNet: Keypoint-based 6-DoF Grasp Generation from the Monocular RGB-D input
  19 Sep 2022 1 repository listed
  Great success has been achieved in the 6-DoF grasp learning from the point cloud input, yet the computational cost due to the point set orderlessness remains a concern.
• FFHNet : Generating Multi-Fingered Robotic Grasps for Unknown Objects in Real-time
  23 May 2022 1 repository listed
  We are able to achieve 91% grasping success for unknown objects in simulation and we demonstrate the model's capabilities of synthesizing high-quality grasps also for real unseen objects.
• PEGG-Net: Pixel-Wise Efficient Grasp Generation in Complex Scenes
  30 Mar 2022 1 repository listed
  Vision-based grasp estimation is an essential part of robotic manipulation tasks in the real world.
• OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interaction
  29 Mar 2022 1 repository listed Syntology ran 1 of 1 samples · 0 unverified
  We start to collect 1, 800 common household objects and annotate their affordances to construct the first knowledge base: Oak.
• CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation
  19 Sep 2021 1 repository listed
  This work proposes a framework to learn task-relevant grasping for industrial objects without the need of time-consuming real-world data collection or manual annotation.
• Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
  25 Mar 2021 1 repository listed
  Our novel grasp representation treats 3D points of the recorded point cloud as potential grasp contacts.
• Orientation Attentive Robotic Grasp Synthesis with Augmented Grasp Map Representation
  9 Jun 2020 1 repository listed
  Inherent morphological characteristics in objects may offer a wide range of plausible grasping orientations that obfuscates the visual learning of robotic grasping.

Syntology lines on 7 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.