Robotic Grasping

Description from the archive archive 2025-07-28.

Benchmarks archive 2025-07-28

4 leaderboard tables shown for this task, 4 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

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

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

Subtasks archive 2025-07-28

1 subtask in the archive's task tree.

Most implemented papers archive 2025-07-28

30 shown of 94 papers with code (246 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.

• Rethinking the Inception Architecture for Computer Vision
  2 Dec 2015 113 repositories listed Syntology ran 5 of 26 samples · 21 unverified · 4 pointer-only (licence)
  Convolutional networks are at the core of most state-of-the-art computer vision solutions for a wide variety of tasks.
• 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.
• Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network
  11 Sep 2019 4 repositories listed
  In this paper, we present a modular robotic system to tackle the problem of generating and performing antipodal robotic grasps for unknown objects from n-channel image of the scene.
• Digital Twin Tracking Dataset (DTTD): A New RGB+Depth 3D Dataset for Longer-Range Object Tracking Applications
  12 Feb 2023 3 repositories listed
  Digital twin is a problem of augmenting real objects with their digital counterparts.
• The CoSTAR Block Stacking Dataset: Learning with Workspace Constraints
  27 Oct 2018 3 repositories listed
  We show that a mild relaxation of the task and workspace constraints implicit in existing object grasping datasets can cause neural network based grasping algorithms to fail on even a simple block stacking task when…
• Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching
  3 Oct 2017 3 repositories listed
  Since product images are readily available for a wide range of objects (e.
• Real-Time Grasp Detection Using Convolutional Neural Networks
  9 Dec 2014 3 repositories listed Syntology ran 1 of 18 samples · 17 unverified
  We present an accurate, real-time approach to robotic grasp detection based on convolutional neural networks.
• Learning Embeddings with Centroid Triplet Loss for Object Identification in Robotic Grasping
  9 Apr 2024 2 repositories listed
  A crucial practical aspect for an object identification model is to be flexible in input size.
• Causal Counterfactuals for Improving the Robustness of Reinforcement Learning
  2 Nov 2022 2 repositories listed
  We apply CausalCF to complex robotic tasks and show that it improves the RL agent's robustness using CausalWorld.
• You Only Demonstrate Once: Category-Level Manipulation from Single Visual Demonstration
  30 Jan 2022 2 repositories listed Syntology ran 4 of 30 samples · 26 unverified
  The canonical object representation is learned solely in simulation and then used to parse a category-level, task trajectory from a single demonstration video.
• Solving the Real Robot Challenge using Deep Reinforcement Learning
  30 Sep 2021 2 repositories listed Syntology ran 1 of 3 samples · 2 unverified
  This paper details our winning submission to Phase 1 of the 2021 Real Robot Challenge; a challenge in which a three-fingered robot must carry a cube along specified goal trajectories.
• The Role of Tactile Sensing in Learning and Deploying Grasp Refinement Algorithms
  23 Sep 2021 2 repositories listed
  Our first experiment investigates the need for rich tactile sensing in the rewards of RL-based grasp refinement algorithms for multi-fingered robotic hands.
• Composing Pick-and-Place Tasks By Grounding Language
  16 Feb 2021 2 repositories listed
  Controlling robots to perform tasks via natural language is one of the most challenging topics in human-robot interaction.
• Learning Object Placements For Relational Instructions by Hallucinating Scene Representations
  23 Jan 2020 2 repositories listed
  One particular requirement for such robots is that they are able to understand spatial relations and can place objects in accordance with the spatial relations expressed by their user.
• PyRobot: An Open-source Robotics Framework for Research and Benchmarking
  19 Jun 2019 2 repositories listed
  This paper introduces PyRobot, an open-source robotics framework for research and benchmarking.
• Real-world multiobject, multigrasp detection
  1 Oct 2018 2 repositories listed
  A deep learning architecture is proposed to predict graspable locations for robotic manipulation.
• Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception
  24 Jun 2025 1 repository listed
  Deep object pose estimators are notoriously overconfident.
• Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation
  17 Apr 2025 1 repository listed
  Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks.
• Free-form language-based robotic reasoning and grasping
  17 Mar 2025 1 repository listed
  Our method detects all objects as keypoints and uses these keypoints to annotate marks on images, aiming to facilitate GPT-4o's zero-shot spatial reasoning.
• A Benchmarking Study of Vision-based Robotic Grasping Algorithms
  14 Mar 2025 1 repository listed
  Some experiments are also run in two different laboratories using same protocols to further analyze the repeatability of our results.
• Diff9D: Diffusion-Based Domain-Generalized Category-Level 9-DoF Object Pose Estimation
  4 Feb 2025 1 repository listed
  Our motivation is to leverage the latent generalization ability of the diffusion model to address the domain generalization challenge in object pose estimation.
• Prompting Depth Anything for 4K Resolution Accurate Metric Depth Estimation
  18 Dec 2024 1 repository listed Syntology ran 2 of 9 samples · 7 unverified
  Prompts play a critical role in unleashing the power of language and vision foundation models for specific tasks.
• Supertoroid fitting of objects with holes for robotic grasping and scene generation
  5 Dec 2024 1 repository listed
  The result is a supergeometric modeling that can be used for symmetric objects with and without holes with a simple distance function for the fitting.
• Measure Anything: Real-time, Multi-stage Vision-based Dimensional Measurement using Segment Anything
  4 Dec 2024 1 repository listed
  We present Measure Anything, a comprehensive vision-based framework for dimensional measurement of objects with circular cross-sections, leveraging the Segment Anything Model (SAM).
• HiFi-CS: Towards Open Vocabulary Visual Grounding For Robotic Grasping Using Vision-Language Models
  16 Sep 2024 1 repository listed
  Given a text query, RGS determines a stable grasp pose to manipulate the referred object in the robot's workspace.
• An Economic Framework for 6-DoF Grasp Detection
  11 Jul 2024 1 repository listed Syntology ran 6 of 7 samples · 1 unverified
  In this work, we propose an economic framework for 6-DoF grasp detection, aiming to economize the resource cost in training and meanwhile maintain effective grasp performance.
• Towards Real-World Efficiency: Domain Randomization in Reinforcement Learning for Pre-Capture of Free-Floating Moving Targets by Autonomous Robots
  10 Jun 2024 1 repository listed
  In this research, we introduce a deep reinforcement learning-based control approach to address the intricate challenge of the robotic pre-grasping phase under microgravity conditions.
• Evaluating Real-World Robot Manipulation Policies in Simulation
  9 May 2024 1 repository listed
  We then employ these approaches to create SIMPLER, a collection of simulated environments for manipulation policy evaluation on common real robot setups.
• Inverse Kinematics for Neuro-Robotic Grasping with Humanoid Embodied Agents
  12 Apr 2024 1 repository listed
  The motion planner is evaluated on the physical hardware of the two humanoid robots NICO and NICOL in a human-in-the-loop grasping scenario.
• Generalizing 6-DoF Grasp Detection via Domain Prior Knowledge
  2 Apr 2024 1 repository listed
  We focus on the generalization ability of the 6-DoF grasp detection method in this paper.

Syntology lines on 6 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.