ResearchBenchmarksRobotic Grasping on SAPIEN Simulation (Unseen Objects)Robotic Grasping on SAPIEN Simulation (Unseen Objects)Follow81.25Success Rate (SR)GRAFT34.668446.761758.85570.9483Jun 23, 2026Evaluation resultsMethodMethodLinksSuccess Rate (SR)Approach Gap (AG)Grasp Failure (GF)Slip Rate (SL)GRAFT2026.0681.25012.56.25AnyGrasp2026.0659.38019.7920.83ROBO-ABCFeatures=DINO+DIFTFeatures=DINO+DIFT2026.0643.752512.518.75ROBO-ABCFeatures=CLIP+DIFTFeatures=CLIP+DIFT2026.0642.712512.519.79where2act2026.0636.46058.335.21