# Robot Grasping on SceneReplica

Source: [Robot Grasping on SceneReplica](<https://www.sota2.com/research/sota/robot-grasping-on-scenereplica>)

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

Data updated: 2026-04-15T07:12:08.594Z

Evaluation of robot grasping performance using the SceneReplica synthetic dataset, measured by Grasping Success rate.

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 | Robot Grasping |
| Dataset (including any stated split) | SceneReplica |
| Metric | Grasping Success Rate |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 4 of 4 |
| 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

- [Grasping Success Rate](<https://www.sota2.com/research/sota/robot-grasping-on-scenereplica.md?metric=Grasping%20Success%20Rate>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Grasping Success Rate | Result date | Report paper |
| --- | --- | --- | --- |
| iTeach-UOIS (Pipeline 4) | 74 | Not recorded | 68fa78741e209131cea78697 |
| GDRNPP (Pipeline 1) | 73 | Not recorded | 68fa78741e209131cea78697 |
| Prior Best Model-free (MSMFormer, Pipeline 3) | 71 | Not recorded | 68fa78741e209131cea78697 |
| MSMFormer (Pipeline 2) | 65 | Not recorded | 68fa78741e209131cea78697 |

### iTeach-UOIS (Pipeline 4)

Grasping Success Rate: 74. Result ID: 69df38f147f34ce924c785bb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78741e209131cea78697.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78741e209131cea78697.md>)

Recorded evaluation configuration: {"Grasping Method":"Model-free","Perception":"iTeach-UOIS","Grasp Planning":"Contact-graspnet \[54\] + Top-down","Motion Planning":"GTO \[7\]","Control":"MoveIt","Scene Ordering":"Near-to-far"}. This record does not assert independent reproduction.

### GDRNPP (Pipeline 1)

Grasping Success Rate: 73. Result ID: 69df38f147f34ce924c785b8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78741e209131cea78697.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77961e209131cea742fc.md>)

[Implementation](<https://git.io/GDR-Net>)

Recorded evaluation configuration: {"Grasping Method":"Best Model-Based","Perception":"GDRNPP \[51\]","Grasp Planning":"RFP \[52\] + Top-down","Motion Planning":"OMPL \[53\]","Control":"MoveIt","Scene Ordering":"Near-to-far"}. This record does not assert independent reproduction.

### Prior Best Model-free (MSMFormer, Pipeline 3)

Grasping Success Rate: 71. Result ID: 69df38f147f34ce924c785ba.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78741e209131cea78697.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b01e209131cea4c927.md>)

[Implementation](<https://irvlutd.github.io/MSMFormer>)

Recorded evaluation configuration: {"Grasping Method":"Prior Best Model-free","Perception":"MSMFormer \[11\]","Grasp Planning":"Contact-graspnet \[54\] + Top-down","Motion Planning":"GTO \[7\]","Control":"MoveIt","Scene Ordering":"Near-to-far"}. This record does not assert independent reproduction.

### MSMFormer (Pipeline 2)

Grasping Success Rate: 65. Result ID: 69df38f147f34ce924c785b9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa78741e209131cea78697.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70b01e209131cea4c927.md>)

[Implementation](<https://irvlutd.github.io/MSMFormer>)

Recorded evaluation configuration: {"Grasping Method":"Model-free","Perception":"MSMFormer \[11\]","Grasp Planning":"Contact-graspnet \[54\] + Top-down","Motion Planning":"OMPL \[53\]","Control":"MoveIt","Scene Ordering":"Near-to-far"}. This record does not assert independent reproduction.

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