# Grasp Detection on GraspNet-1Billion RealSense Novel Source: [Grasp Detection on GraspNet-1Billion RealSense Novel]() Collection index: [llms.txt]() Data updated: 2026-03-18T08:26:22.835Z Evaluation of Grasp Detection performance on the Novel subset of the GraspNet-1Billion 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 | Grasp Detection | | Dataset (including any stated split) | GraspNet-1Billion RealSense Novel | | Metric | AP | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 33 of 33 | | 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](): Higher is better; unit: PERCENT. - [AP @ IoU 0.8](): Higher is better; unit: PERCENT. - [AP @ IoU 0.4](): Higher is better; unit: PERCENT. ## Recorded results | Method | AP | Result date | Report paper | | --- | --- | --- | --- | | FlexLog | 30.04 | Not recorded | 69ba31820636e5bf4afc0746 | | Ours | 24.63 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | HGGD | 24.59 | Not recorded | 68fa73331e209131cea5b1d9 | | GSNet | 24.31 | Not recorded | 68fa73331e209131cea5b1d9 | | GSNet | 24.31 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GSNet | 23.98 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | TOGNet | 23.74 | Not recorded | 68fa75111e209131cea657ca | | MG-Grasp | 23.22 | Not recorded | 69ba31820636e5bf4afc0746 | | Ours | 22.63 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | LoG | 22.59 | Not recorded | 68fa75111e209131cea657ca | | HGGD | 22.17 | Not recorded | 69ba31820636e5bf4afc0746 | | Graspness | 18.06 | Not recorded | 68fa75111e209131cea657ca | | HGGD | 16.73 | Not recorded | 68fa75111e209131cea657ca | | Scale Balanced Grasp | 15.97 | Not recorded | 68fa75111e209131cea657ca | | li et al. | 14.01 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | TransGrasp | 13.83 | Not recorded | 68fa73331e209131cea5b1d9 | | TransGrasp | 13.83 | Not recorded | 69ba31820636e5bf4afc0746 | | RGB Matters | 12.25 | Not recorded | 68fa73331e209131cea5b1d9 | | gou et al. | 12.25 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GraspNeRF | 11.08 | Not recorded | 69ba31820636e5bf4afc0746 | | VG-Grasp | 10.84 | Not recorded | 69ba31820636e5bf4afc0746 | | GraspNet-1B | 10.55 | Not recorded | 68fa73331e209131cea5b1d9 | | GraspNet-baseline | 10.55 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GraspNet | 10.55 | Not recorded | 69ba31820636e5bf4afc0746 | | REGNet | 10.35 | Not recorded | 68fa73331e209131cea5b1d9 | | PointnetGPD | 9.23 | Not recorded | 68fa73331e209131cea5b1d9 | | PointnetGPD | 9.23 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | PointnetGPD | 9.23 | Not recorded | 69ba31820636e5bf4afc0746 | | GraspNet-baseline | 8.35 | Not recorded | 68fa75111e209131cea657ca | | GPD | 8.24 | Not recorded | 68fa73331e209131cea5b1d9 | | GPD | 8.24 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | chu et al. | 7.64 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GG-CNN | 5.52 | Not recorded | 68fa6e2f1e209131cea3e6c7 | ### FlexLog AP: 30.04. Result ID: 69ba61ae47f34ce924a43c38. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### Ours AP: 24.63. Result ID: 69a14b8a35dfcabb00e61459. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"true"}. This record does not assert independent reproduction. ### HGGD AP: 24.59. Result ID: 6992b0d83a6c31484910c573. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Time (ms)":36,"Hardware":"AMD 5600x CPU and single NVIDIA RTX 3060Ti GPU"}. This record does not assert independent reproduction. ### GSNet AP: 24.31. Result ID: 6992b0d83a6c31484910c572. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Time (ms)":"~100","Hardware":"NVIDIA RTX 1080Ti GPU"}. This record does not assert independent reproduction. ### GSNet AP: 24.31. Result ID: 69a14b8a35dfcabb00e61457. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"true"}. This record does not assert independent reproduction. ### GSNet AP: 23.98. Result ID: 69a14b8a35dfcabb00e61456. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"false"}. This record does not assert independent reproduction. ### TOGNet AP: 23.74. Result ID: 699371f43a6c31484915ff2a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MG-Grasp AP: 23.22. Result ID: 69ba61ae47f34ce924a43c3b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### Ours AP: 22.63. Result ID: 69a14b8a35dfcabb00e61458. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"false"}. This record does not assert independent reproduction. ### LoG AP: 22.59. Result ID: 699371f43a6c31484915ff2b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### HGGD AP: 22.17. Result ID: 69ba61ae47f34ce924a43c37. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### Graspness AP: 18.06. Result ID: 699371f43a6c31484915ff29. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### HGGD AP: 16.73. Result ID: 699371f43a6c31484915ff28. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Scale Balanced Grasp AP: 15.97. Result ID: 699371f43a6c31484915ff27. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### li et al. AP: 14.01. Result ID: 69a14b8a35dfcabb00e61455. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TransGrasp AP: 13.83. Result ID: 6992b0d83a6c31484910c571. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TransGrasp AP: 13.83. Result ID: 69ba61ae47f34ce924a43c36. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### RGB Matters AP: 12.25. Result ID: 6992b0d83a6c31484910c56f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time (ms)":440,"Hardware":"AMD 5600x CPU and single NVIDIA RTX 3060Ti GPU"}. This record does not assert independent reproduction. ### gou et al. AP: 12.25. Result ID: 69a14b8a35dfcabb00e61454. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNeRF AP: 11.08. Result ID: 69ba61ae47f34ce924a43c39. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### VG-Grasp AP: 10.84. Result ID: 69ba61ae47f34ce924a43c3a. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### GraspNet-1B AP: 10.55. Result ID: 6992b0d83a6c31484910c56e. [Reporting paper]() Recorded evaluation configuration: {"Time (ms)":298,"Hardware":"AMD 5600x CPU and single NVIDIA RTX 3060Ti GPU"}. This record does not assert independent reproduction. ### GraspNet-baseline AP: 10.55. Result ID: 69a14b8a35dfcabb00e61453. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNet AP: 10.55. Result ID: 69ba61ae47f34ce924a43c35. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### REGNet AP: 10.35. Result ID: 6992b0d83a6c31484910c570. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time (ms)":452,"Hardware":"AMD 5600x CPU and single NVIDIA RTX 3060Ti GPU"}. This record does not assert independent reproduction. ### PointnetGPD AP: 9.23. Result ID: 6992b0d83a6c31484910c56d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PointnetGPD AP: 9.23. Result ID: 69a14b8a35dfcabb00e61452. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PointnetGPD AP: 9.23. Result ID: 69ba61ae47f34ce924a43c34. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### GraspNet-baseline AP: 8.35. Result ID: 699371f43a6c31484915ff26. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GPD AP: 8.24. Result ID: 6992b0d83a6c31484910c56c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GPD AP: 8.24. Result ID: 69a14b8a35dfcabb00e61451. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### chu et al. AP: 7.64. Result ID: 69a14b8a35dfcabb00e61450. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GG-CNN AP: 5.52. Result ID: 69a14b8a35dfcabb00e6144f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.