Grasp Synthesis on Google Scanned Objects and KIT datasets
60.9Mean Success RateOurs new data
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Ours new datadataset=Dataset 2 (3,280 positives), encoder_dimension=256-dim, components=matching error + additional losses2026.06 | 60.9 | 0.27 | 92 | 62.3 | 9.5 | |
| Ours new costadditional_losses=Adds two extra loss terms2026.06 | 57.1 | 0.291 | 89 | 58.6 | 8.2 | |
| AS-ICP2026.06 | 56.6 | 0.367 | 78.4 | 56.7 | 19.2 | |
| Ours 512encoder_dimension=512-dim, features=combined point cloud features2026.06 | 54.4 | 0.31 | 85.1 | 51.3 | 9.3 | |
| Ours 256feature=Adds matching error2026.06 | 50 | 0.285 | 86.4 | 45.1 | 5.7 | |
| GPD2026.06 | 48.4 | 0.259 | 87.3 | 42.4 | 2.2 | |
| Hybrid metrics2026.06 | 46.8 | 0.312 | 79.5 | 43.1 | 5.4 | |
| Energy onlyencoder_dimension=256-dim, mode=energy only2026.06 | 43.9 | 0.318 | 75.6 | 38.1 | 5.6 | |
| AnyGrasp2026.06 | 31.1 | 0.44 | 34.7 | 30.6 | 25.4 |