# Grasp Pose Estimation on GraspNet-1Billion (Similar) Source: [Grasp Pose Estimation on GraspNet-1Billion (Similar)]() Collection index: [llms.txt]() Data updated: 2026-06-09T08:33:59.665Z Evaluation of Grasp Pose Estimation performance on the 'Similar' subset of the GraspNet-1Billion dataset, reporting AP, AP0.8, and AP0.4 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 Estimation | | Dataset (including any stated split) | GraspNet-1Billion (Similar) | | Metric | AP | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 34 of 34 | | 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@0.8](): Higher is better; unit: PERCENT. - [AP@0.4](): Higher is better; unit: PERCENT. ## Recorded results | Method | AP | Result date | Report paper | | --- | --- | --- | --- | | GraspFoM | 73.34 | Not recorded | 6a279e1b90966ade919bf70d | | ZeroGrasp | 65.45 | Not recorded | 6a279e1b90966ade919bf70d | | Cross-view Fusion Framework | 62.38 | Not recorded | 6a264c9690966ade919bea78 | | ZeroGrasp | 62.15 | Not recorded | 6a264c9690966ade919bea78 | | EconomicGrasp | 61.19 | Not recorded | 6a264c9690966ade919bea78 | | EconomicGrasp | 61.19 | Not recorded | 6a279e1b90966ade919bf70d | | Ma et al. | 58.46 | Not recorded | 6a279e1b90966ade919bf70d | | MG-Grasp | 57.35 | Not recorded | 6a279e1b90966ade919bf70d | | GSNet | 54.81 | Not recorded | 6a279e1b90966ade919bf70d | | GSNet | 53.75 | Not recorded | 6a264c9690966ade919bea78 | | HGGD | 53.59 | Not recorded | 6a279e1b90966ade919bf70d | | Cross-view Fusion Framework | 53.41 | Not recorded | 6a264c9690966ade919bea78 | | TSB(Ma) | 52.97 | Not recorded | 6a264c9690966ade919bea78 | | EconomicGrasp | 51.73 | Not recorded | 6a264c9690966ade919bea78 | | GSNet | 47.39 | Not recorded | 6a264c9690966ade919bea78 | | TSB(Ma) | 41.49 | Not recorded | 6a264c9690966ade919bea78 | | TransGrasp | 29.71 | Not recorded | 6a264c9690966ade919bea78 | | TransGrasp | 29.32 | Not recorded | 6a264c9690966ade919bea78 | | GraspNet | 27.84 | Not recorded | 6a264c9690966ade919bea78 | | GraspNet | 26.11 | Not recorded | 6a264c9690966ade919bea78 | | GraspNet | 26.11 | Not recorded | 6a279e1b90966ade919bf70d | | PointNetGPD | 24.38 | Not recorded | 6a264c9690966ade919bea78 | | GPD | 23.18 | Not recorded | 6a264c9690966ade919bea78 | | PointNetGPD | 22.68 | Not recorded | 6a264c9690966ade919bea78 | | Lian et al. | 22.68 | Not recorded | 6a279e1b90966ade919bf70d | | GPD | 21.33 | Not recorded | 6a264c9690966ade919bea78 | | GPD | 21.33 | Not recorded | 6a279e1b90966ade919bf70d | | Chu et al | 17.36 | Not recorded | 6a264c9690966ade919bea78 | | Chu et al | 15.41 | Not recorded | 6a264c9690966ade919bea78 | | Chu et al. | 15.41 | Not recorded | 6a279e1b90966ade919bf70d | | GG-CNN | 15.05 | Not recorded | 6a264c9690966ade919bea78 | | GG-CNN | 13.26 | Not recorded | 6a264c9690966ade919bea78 | | GG-CNN | 13.26 | Not recorded | 6a279e1b90966ade919bf70d | | CenterGrasp | 9.52 | Not recorded | 6a279e1b90966ade919bf70d | ### GraspFoM AP: 73.34. Result ID: 6a27cfe0fbc373592c249a55. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"true"}. This record does not assert independent reproduction. ### ZeroGrasp AP: 65.45. Result ID: 6a27cfe0fbc373592c249a54. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"true"}. This record does not assert independent reproduction. ### Cross-view Fusion Framework AP: 62.38. Result ID: 6a2667a3fbc373592c229aa3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense","Number of views":"2"}. This record does not assert independent reproduction. ### ZeroGrasp AP: 62.15. Result ID: 6a2667a3fbc373592c229aa2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### EconomicGrasp AP: 61.19. Result ID: 6a2667a3fbc373592c229aa0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### EconomicGrasp AP: 61.19. Result ID: 6a27cfe0fbc373592c249a52. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### Ma et al. AP: 58.46. Result ID: 6a27cfe0fbc373592c249a50. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### MG-Grasp AP: 57.35. Result ID: 6a27cfe0fbc373592c249a53. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"true"}. This record does not assert independent reproduction. ### GSNet AP: 54.81. Result ID: 6a27cfe0fbc373592c249a4f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### GSNet AP: 53.75. Result ID: 6a2667a3fbc373592c229a9e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### HGGD AP: 53.59. Result ID: 6a27cfe0fbc373592c249a51. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### Cross-view Fusion Framework AP: 53.41. Result ID: 6a2667a3fbc373592c229aa4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Camera Sensor":"Kinect","Number of views":"2"}. This record does not assert independent reproduction. ### TSB(Ma) AP: 52.97. Result ID: 6a2667a3fbc373592c229a9c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### EconomicGrasp AP: 51.73. Result ID: 6a2667a3fbc373592c229aa1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### GSNet AP: 47.39. Result ID: 6a2667a3fbc373592c229a9f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### TSB(Ma) AP: 41.49. Result ID: 6a2667a3fbc373592c229a9d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### TransGrasp AP: 29.71. Result ID: 6a2667a3fbc373592c229a9b. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### TransGrasp AP: 29.32. Result ID: 6a2667a3fbc373592c229a9a. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### GraspNet AP: 27.84. Result ID: 6a2667a3fbc373592c229a99. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### GraspNet AP: 26.11. Result ID: 6a2667a3fbc373592c229a98. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### GraspNet AP: 26.11. Result ID: 6a27cfe0fbc373592c249a4e. [Reporting paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### PointNetGPD AP: 24.38. Result ID: 6a2667a3fbc373592c229a97. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### GPD AP: 23.18. Result ID: 6a2667a3fbc373592c229a95. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### PointNetGPD AP: 22.68. Result ID: 6a2667a3fbc373592c229a96. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### Lian et al. AP: 22.68. Result ID: 6a27cfe0fbc373592c249a4d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### GPD AP: 21.33. Result ID: 6a2667a3fbc373592c229a94. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### GPD AP: 21.33. Result ID: 6a27cfe0fbc373592c249a4c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### Chu et al AP: 17.36. Result ID: 6a2667a3fbc373592c229a93. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### Chu et al AP: 15.41. Result ID: 6a2667a3fbc373592c229a92. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### Chu et al. AP: 15.41. Result ID: 6a27cfe0fbc373592c249a4a. [Reporting paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### GG-CNN AP: 15.05. Result ID: 6a2667a3fbc373592c229a91. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"Kinect"}. This record does not assert independent reproduction. ### GG-CNN AP: 13.26. Result ID: 6a2667a3fbc373592c229a90. [Reporting paper]() Recorded evaluation configuration: {"Camera Sensor":"RealSense"}. This record does not assert independent reproduction. ### GG-CNN AP: 13.26. Result ID: 6a27cfe0fbc373592c249a49. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"false"}. This record does not assert independent reproduction. ### CenterGrasp AP: 9.52. Result ID: 6a27cfe0fbc373592c249a4b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Predicts Grasp Poses":"true","Predicts Reconstructions":"true"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.