# Robot Grasping on YCB Cluttered GSS + GDS (real-world grasping)

Source: [Robot Grasping on YCB Cluttered GSS + GDS (real-world grasping)](<https://www.sota2.com/research/sota/robot-grasping-on-ycb-cluttered-gss-plus-gds-real-world-grasping>)

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

Data updated: 2026-02-27T07:45:24.043Z

Evaluation of robot grasping performance on the YCB Cluttered GSS + GDS dataset, focusing on real-world grasping scenarios, measured by Success Rate (SR) and Success Contact Rate (SCR).

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) | YCB Cluttered GSS + GDS (real-world grasping) |
| Metric | Success Rate (SR) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 2 of 2 |
| 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

- [Success Rate (SR)](<https://www.sota2.com/research/sota/robot-grasping-on-ycb-cluttered-gss-plus-gds-real-world-grasping.md?metric=Success%20Rate%20(SR)>): Higher is better; unit: PERCENT.

- [Success Contact Rate (SCR)](<https://www.sota2.com/research/sota/robot-grasping-on-ycb-cluttered-gss-plus-gds-real-world-grasping.md?metric=Success%20Contact%20Rate%20(SCR)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | Success Rate (SR) | Result date | Report paper |
| --- | --- | --- | --- |
| MsCG + SBL + OBS + NcM (Ours) | 88.24 | Not recorded | 68fa6e2f1e209131cea3e6c7 |
| Baseline | 68.42 | Not recorded | 68fa6e2f1e209131cea3e6c7 |

### MsCG + SBL + OBS + NcM (Ours)

Success Rate (SR): 88.24. Result ID: 69a14b8a35dfcabb00e6145d.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6e2f1e209131cea3e6c7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6e2f1e209131cea3e6c7.md>)

[Implementation](<https://github.com/mahaoxiang822/Scale-Balanced-Grasp>)

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

### Baseline

Success Rate (SR): 68.42. Result ID: 69a14b8a35dfcabb00e6145c.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6e2f1e209131cea3e6c7.md>)

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

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