# Grasp Detection on GraspNet-1Billion RealSense (Seen) Source: [Grasp Detection on GraspNet-1Billion RealSense (Seen)]() Collection index: [llms.txt]() Data updated: 2026-03-18T08:26:22.768Z Evaluation of Grasp Detection performance on the Seen 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 (Seen) | | 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 | 72.81 | Not recorded | 69ba31820636e5bf4afc0746 | | GSNet | 67.12 | Not recorded | 68fa73331e209131cea5b1d9 | | GSNet | 67.12 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GSNet | 65.7 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | HGGD | 64.45 | Not recorded | 68fa73331e209131cea5b1d9 | | Ours | 63.83 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | MG-Grasp | 63.7 | Not recorded | 69ba31820636e5bf4afc0746 | | HGGD | 59.36 | Not recorded | 69ba31820636e5bf4afc0746 | | VG-Grasp | 59.23 | Not recorded | 69ba31820636e5bf4afc0746 | | Ours | 58.95 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | TOGNet | 51.84 | Not recorded | 68fa75111e209131cea657ca | | LoG | 50.57 | Not recorded | 68fa75111e209131cea657ca | | Graspness | 44.8 | Not recorded | 68fa75111e209131cea657ca | | TransGrasp | 39.81 | Not recorded | 68fa73331e209131cea5b1d9 | | TransGrasp | 39.81 | Not recorded | 69ba31820636e5bf4afc0746 | | HGGD | 38.91 | Not recorded | 68fa75111e209131cea657ca | | Scale Balanced Grasp | 38.04 | Not recorded | 68fa75111e209131cea657ca | | REGNet | 37 | Not recorded | 68fa73331e209131cea5b1d9 | | li et al. | 36.55 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | RGB Matters | 27.98 | Not recorded | 68fa73331e209131cea5b1d9 | | gou et al. | 27.98 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GraspNet | 27.59 | Not recorded | 69ba31820636e5bf4afc0746 | | GraspNet-1B | 27.56 | Not recorded | 68fa73331e209131cea5b1d9 | | GraspNet-baseline | 27.56 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | PointnetGPD | 25.96 | Not recorded | 68fa73331e209131cea5b1d9 | | PointnetGPD | 25.96 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | PointnetGPD | 25.96 | Not recorded | 69ba31820636e5bf4afc0746 | | GPD | 22.87 | Not recorded | 68fa73331e209131cea5b1d9 | | GPD | 22.87 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GraspNet-baseline | 22.64 | Not recorded | 68fa75111e209131cea657ca | | GraspNeRF | 22.49 | Not recorded | 69ba31820636e5bf4afc0746 | | chu et al. | 15.97 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GG-CNN | 15.48 | Not recorded | 68fa6e2f1e209131cea3e6c7 | ### FlexLog AP: 72.81. Result ID: 69ba61ae47f34ce924a43c28. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### GSNet AP: 67.12. Result ID: 6992b0d83a6c31484910c552. [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: 67.12. Result ID: 69a14b8a35dfcabb00e61441. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"true"}. This record does not assert independent reproduction. ### GSNet AP: 65.7. Result ID: 69a14b8a35dfcabb00e61440. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"false"}. This record does not assert independent reproduction. ### HGGD AP: 64.45. Result ID: 6992b0d83a6c31484910c553. [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. ### Ours AP: 63.83. Result ID: 69a14b8a35dfcabb00e61443. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"true"}. This record does not assert independent reproduction. ### MG-Grasp AP: 63.7. Result ID: 69ba61ae47f34ce924a43c2b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### HGGD AP: 59.36. Result ID: 69ba61ae47f34ce924a43c27. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### VG-Grasp AP: 59.23. Result ID: 69ba61ae47f34ce924a43c2a. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### Ours AP: 58.95. Result ID: 69a14b8a35dfcabb00e61442. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"false"}. This record does not assert independent reproduction. ### TOGNet AP: 51.84. Result ID: 699371f43a6c31484915ff1e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LoG AP: 50.57. Result ID: 699371f43a6c31484915ff1f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Graspness AP: 44.8. Result ID: 699371f43a6c31484915ff1d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TransGrasp AP: 39.81. Result ID: 6992b0d83a6c31484910c551. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TransGrasp AP: 39.81. Result ID: 69ba61ae47f34ce924a43c26. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### HGGD AP: 38.91. Result ID: 699371f43a6c31484915ff1c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Scale Balanced Grasp AP: 38.04. Result ID: 699371f43a6c31484915ff1b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### REGNet AP: 37. Result ID: 6992b0d83a6c31484910c550. [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. ### li et al. AP: 36.55. Result ID: 69a14b8a35dfcabb00e6143f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### RGB Matters AP: 27.98. Result ID: 6992b0d83a6c31484910c54f. [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: 27.98. Result ID: 69a14b8a35dfcabb00e6143e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNet AP: 27.59. Result ID: 69ba61ae47f34ce924a43c25. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### GraspNet-1B AP: 27.56. Result ID: 6992b0d83a6c31484910c54e. [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: 27.56. Result ID: 69a14b8a35dfcabb00e6143d. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PointnetGPD AP: 25.96. Result ID: 6992b0d83a6c31484910c54d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PointnetGPD AP: 25.96. Result ID: 69a14b8a35dfcabb00e6143c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PointnetGPD AP: 25.96. Result ID: 69ba61ae47f34ce924a43c24. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### GPD AP: 22.87. Result ID: 6992b0d83a6c31484910c54c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GPD AP: 22.87. Result ID: 69a14b8a35dfcabb00e6143b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNet-baseline AP: 22.64. Result ID: 699371f43a6c31484915ff1a. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNeRF AP: 22.49. Result ID: 69ba61ae47f34ce924a43c29. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### chu et al. AP: 15.97. Result ID: 69a14b8a35dfcabb00e6143a. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GG-CNN AP: 15.48. Result ID: 69a14b8a35dfcabb00e61439. [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.