# 6-DoF Grasping on GraspNet-1Billion Average RealSense

Source: [6-DoF Grasping on GraspNet-1Billion Average RealSense](<https://www.sota2.com/research/sota/6-dof-grasping-on-graspnet-1billion-average-realsense>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-18T08:26:22.642Z

Evaluation of 6-DoF Grasping performance on the GraspNet-1Billion Average RealSense dataset, reporting AP metrics.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | 6-DoF Grasping |
| Dataset (including any stated split) | GraspNet-1Billion Average RealSense |
| Metric | AP |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 8 of 8 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [AP](<https://www.sota2.com/research/sota/6-dof-grasping-on-graspnet-1billion-average-realsense.md?metric=AP>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP | Result date | Report paper |
| --- | --- | --- | --- |
| FlexLog | 56.02 | Not recorded | 69ba31820636e5bf4afc0746 |
| MG-Grasp | 47.65 | Not recorded | 69ba31820636e5bf4afc0746 |
| HGGD | 44.24 | Not recorded | 69ba31820636e5bf4afc0746 |
| VG-Grasp | 35.47 | Not recorded | 69ba31820636e5bf4afc0746 |
| TransGrasp | 27.65 | Not recorded | 69ba31820636e5bf4afc0746 |
| GraspNet | 21.41 | Not recorded | 69ba31820636e5bf4afc0746 |
| PointnetGPD | 19.29 | Not recorded | 69ba31820636e5bf4afc0746 |
| GraspNeRF | 15.91 | Not recorded | 69ba31820636e5bf4afc0746 |

### FlexLog

AP: 56.02. Result ID: 69ba61ae47f34ce924a43c40.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa75111e209131cea657ca.md>)

Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction.

### MG-Grasp

AP: 47.65. Result ID: 69ba61ae47f34ce924a43c43.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction.

### HGGD

AP: 44.24. Result ID: 69ba61ae47f34ce924a43c3f.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73331e209131cea5b1d9.md>)

[Implementation](<https://github.com/THU-VCLab/HGGD>)

Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction.

### VG-Grasp

AP: 35.47. Result ID: 69ba61ae47f34ce924a43c42.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction.

### TransGrasp

AP: 27.65. Result ID: 69ba61ae47f34ce924a43c3e.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction.

### GraspNet

AP: 21.41. Result ID: 69ba61ae47f34ce924a43c3d.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction.

### PointnetGPD

AP: 19.29. Result ID: 69ba61ae47f34ce924a43c3c.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa68801e209131cea1c6dd.md>)

Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction.

### GraspNeRF

AP: 15.91. Result ID: 69ba61ae47f34ce924a43c41.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31820636e5bf4afc0746.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ec31e209131cea41d8d.md>)

Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction.

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