# Grasp Detection on GraspNet-1Billion RealSense Similar Source: [Grasp Detection on GraspNet-1Billion RealSense Similar]() Collection index: [llms.txt]() Data updated: 2026-03-18T08:26:22.798Z Evaluation of Grasp Detection performance on the GraspNet-1Billion RealSense Similar dataset. 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 Similar | | Metric | AP | | Unit | SCALAR | | 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: SCALAR. - [AP (IoU=0.8)](): Higher is better; unit: SCALAR. - [AP (IoU=0.4)](): Higher is better; unit: SCALAR. ## Recorded results | Method | AP | Result date | Report paper | | --- | --- | --- | --- | | FlexLog | 0.6521 | Not recorded | 69ba31820636e5bf4afc0746 | | Ours | 0.5846 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | MG-Grasp | 0.5603 | Not recorded | 69ba31820636e5bf4afc0746 | | GSNet | 0.5481 | Not recorded | 68fa73331e209131cea5b1d9 | | GSNet | 0.5481 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GSNet | 0.5375 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | HGGD | 0.5359 | Not recorded | 68fa73331e209131cea5b1d9 | | Ours | 0.5297 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | HGGD | 0.512 | Not recorded | 69ba31820636e5bf4afc0746 | | TOGNet | 0.4662 | Not recorded | 68fa75111e209131cea657ca | | LoG | 0.4459 | Not recorded | 68fa75111e209131cea657ca | | Graspness | 0.3767 | Not recorded | 68fa75111e209131cea657ca | | VG-Grasp | 0.3634 | Not recorded | 69ba31820636e5bf4afc0746 | | HGGD | 0.347 | Not recorded | 68fa75111e209131cea657ca | | Scale Balanced Grasp | 0.3394 | Not recorded | 68fa75111e209131cea657ca | | TransGrasp | 0.2932 | Not recorded | 68fa73331e209131cea5b1d9 | | TransGrasp | 0.2932 | Not recorded | 69ba31820636e5bf4afc0746 | | li et al. | 0.2836 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | REGNet | 0.2773 | Not recorded | 68fa73331e209131cea5b1d9 | | RGB Matters | 0.2723 | Not recorded | 68fa73331e209131cea5b1d9 | | gou et al. | 0.2723 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GraspNet-1B | 0.2611 | Not recorded | 68fa73331e209131cea5b1d9 | | GraspNet-baseline | 0.2611 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GraspNet | 0.2611 | Not recorded | 69ba31820636e5bf4afc0746 | | PointnetGPD | 0.2268 | Not recorded | 68fa73331e209131cea5b1d9 | | PointnetGPD | 0.2268 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | PointnetGPD | 0.2268 | Not recorded | 69ba31820636e5bf4afc0746 | | GPD | 0.2133 | Not recorded | 68fa73331e209131cea5b1d9 | | GPD | 0.2133 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GraspNet-baseline | 0.2063 | Not recorded | 68fa75111e209131cea657ca | | chu et al. | 0.1541 | Not recorded | 68fa6e2f1e209131cea3e6c7 | | GraspNeRF | 0.1415 | Not recorded | 69ba31820636e5bf4afc0746 | | GG-CNN | 0.1326 | Not recorded | 68fa6e2f1e209131cea3e6c7 | ### FlexLog AP: 0.6521. Result ID: 69ba61ae47f34ce924a43c30. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### Ours AP: 0.5846. Result ID: 69a14b8a35dfcabb00e6144e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"true"}. This record does not assert independent reproduction. ### MG-Grasp AP: 0.5603. Result ID: 69ba61ae47f34ce924a43c33. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### GSNet AP: 0.5481. Result ID: 6992b0d83a6c31484910c562. [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: 0.5481. Result ID: 69a14b8a35dfcabb00e6144c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"true"}. This record does not assert independent reproduction. ### GSNet AP: 0.5375. Result ID: 69a14b8a35dfcabb00e6144b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"false"}. This record does not assert independent reproduction. ### HGGD AP: 0.5359. Result ID: 6992b0d83a6c31484910c563. [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: 0.5297. Result ID: 69a14b8a35dfcabb00e6144d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Collision Detection":"false"}. This record does not assert independent reproduction. ### HGGD AP: 0.512. Result ID: 69ba61ae47f34ce924a43c2f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### TOGNet AP: 0.4662. Result ID: 699371f43a6c31484915ff24. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LoG AP: 0.4459. Result ID: 699371f43a6c31484915ff25. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Graspness AP: 0.3767. Result ID: 699371f43a6c31484915ff23. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### VG-Grasp AP: 0.3634. Result ID: 69ba61ae47f34ce924a43c32. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### HGGD AP: 0.347. Result ID: 699371f43a6c31484915ff22. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Scale Balanced Grasp AP: 0.3394. Result ID: 699371f43a6c31484915ff21. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TransGrasp AP: 0.2932. Result ID: 6992b0d83a6c31484910c561. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TransGrasp AP: 0.2932. Result ID: 69ba61ae47f34ce924a43c2e. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### li et al. AP: 0.2836. Result ID: 69a14b8a35dfcabb00e6144a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### REGNet AP: 0.2773. Result ID: 6992b0d83a6c31484910c560. [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. ### RGB Matters AP: 0.2723. Result ID: 6992b0d83a6c31484910c55f. [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: 0.2723. Result ID: 69a14b8a35dfcabb00e61449. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNet-1B AP: 0.2611. Result ID: 6992b0d83a6c31484910c55e. [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: 0.2611. Result ID: 69a14b8a35dfcabb00e61448. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNet AP: 0.2611. Result ID: 69ba61ae47f34ce924a43c2d. [Reporting paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### PointnetGPD AP: 0.2268. Result ID: 6992b0d83a6c31484910c55d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PointnetGPD AP: 0.2268. Result ID: 69a14b8a35dfcabb00e61447. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PointnetGPD AP: 0.2268. Result ID: 69ba61ae47f34ce924a43c2c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB-D"}. This record does not assert independent reproduction. ### GPD AP: 0.2133. Result ID: 6992b0d83a6c31484910c55c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GPD AP: 0.2133. Result ID: 69a14b8a35dfcabb00e61446. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNet-baseline AP: 0.2063. Result ID: 699371f43a6c31484915ff20. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### chu et al. AP: 0.1541. Result ID: 69a14b8a35dfcabb00e61445. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GraspNeRF AP: 0.1415. Result ID: 69ba61ae47f34ce924a43c31. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Data":"RGB"}. This record does not assert independent reproduction. ### GG-CNN AP: 0.1326. Result ID: 69a14b8a35dfcabb00e61444. [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.