# Grasp Pose Detection on GraspNet-1Billion Kinect 1.0 (Novel)

Source: [Grasp Pose Detection on GraspNet-1Billion Kinect 1.0 (Novel)](<https://www.sota2.com/research/sota/grasp-pose-detection-on-graspnet-1billion-kinect-1-0-novel>)

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

Data updated: 2026-02-26T05:22:51.720Z

Evaluation of Grasp Pose Detection performance on the Novel subset of the GraspNet-1Billion dataset captured using the Kinect 1.0 sensor, 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 Pose Detection |
| Dataset (including any stated split) | GraspNet-1Billion Kinect 1.0 (Novel) |
| Metric | AP |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 10 of 10 |
| 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/grasp-pose-detection-on-graspnet-1billion-kinect-1-0-novel.md?metric=AP>): Higher is better; unit: SCALAR.

- [AP@0.8](<https://www.sota2.com/research/sota/grasp-pose-detection-on-graspnet-1billion-kinect-1-0-novel.md?metric=AP%400.8>): Higher is better; unit: SCALAR.

- [AP@0.4](<https://www.sota2.com/research/sota/grasp-pose-detection-on-graspnet-1billion-kinect-1-0-novel.md?metric=AP%400.4>): Higher is better; unit: SCALAR.

## Recorded results

| Method | AP | Result date | Report paper |
| --- | --- | --- | --- |
| GSNet | 0.1978 | Not recorded | 68fa73a51e209131cea5da61 |
| GSNet | 0.1901 | Not recorded | 68fa73a51e209131cea5da61 |
| Fang et al. | 0.1326 | Not recorded | 68fa73a51e209131cea5da61 |
| Liang et al. | 0.1247 | Not recorded | 68fa73a51e209131cea5da61 |
| Fang et al. | 0.1151 | Not recorded | 68fa73a51e209131cea5da61 |
| GPD | 0.1089 | Not recorded | 68fa73a51e209131cea5da61 |
| Liang et al. | 0.1066 | Not recorded | 68fa73a51e209131cea5da61 |
| GPD | 0.0958 | Not recorded | 68fa73a51e209131cea5da61 |
| Chu et al. | 0.0804 | Not recorded | 68fa73a51e209131cea5da61 |
| GG-CNN | 0.0738 | Not recorded | 68fa73a51e209131cea5da61 |

### GSNet

AP: 0.1978. Result ID: 6992fc3c3a6c31484912de2b.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

[Implementation](<https://graspnet.net/anygrasp>)

Recorded evaluation configuration: {"Collision Detection":true}. This record does not assert independent reproduction.

### GSNet

AP: 0.1901. Result ID: 6992fc3c3a6c31484912de2a.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

[Implementation](<https://graspnet.net/anygrasp>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Fang et al.

AP: 0.1326. Result ID: 6992fc3c3a6c31484912de29.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

Recorded evaluation configuration: {"Cascaded Graspness Model":true}. This record does not assert independent reproduction.

### Liang et al.

AP: 0.1247. Result ID: 6992fc3c3a6c31484912de28.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

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

Recorded evaluation configuration: {"Cascaded Graspness Model":true}. This record does not assert independent reproduction.

### Fang et al.

AP: 0.1151. Result ID: 6992fc3c3a6c31484912de26.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GPD

AP: 0.1089. Result ID: 6992fc3c3a6c31484912de27.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa636c1e209131ce9fea5f.md>)

Recorded evaluation configuration: {"Cascaded Graspness Model":true}. This record does not assert independent reproduction.

### Liang et al.

AP: 0.1066. Result ID: 6992fc3c3a6c31484912de25.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

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

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GPD

AP: 0.0958. Result ID: 6992fc3c3a6c31484912de24.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa636c1e209131ce9fea5f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Chu et al.

AP: 0.0804. Result ID: 6992fc3c3a6c31484912de23.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GG-CNN

AP: 0.0738. Result ID: 6992fc3c3a6c31484912de22.

[Reporting paper](<https://www.sota2.com/research/paper/68fa73a51e209131cea5da61.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa64641e209131cea044dc.md>)

[Implementation](<https://github.com/dougsm/ggcnn>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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