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Papers Benchmarks Datasets Tasks

6-DoF Grasping research benchmarks · SOTA2 Research

6-DoF Grasping

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

ShapeNet (SN) (held-out objects)

91.3SR (%)

10

Feb 26, 2026

YCB (held-out objects)

88.2Success Rate

10

Feb 26, 2026

GraspNet-1Billion Average Kinect

50.67AP

8

Mar 18, 2026

GraspNet-1Billion Novel Kinect

23.67AP

8

Mar 18, 2026

GraspNet-1Billion Similar Kinect

59.01AP

8

Mar 18, 2026

GraspNet-1Billion Seen Kinect

69.44AP

8

Mar 18, 2026

GraspNet-1Billion Average RealSense

56.02AP

8

Mar 18, 2026

Robotiq-2F140 Industrial Manipulator (overall)

79Grasp Success Rate

3

Jun 2, 2026

Robotiq-2F140 Industrial Manipulator (Clutter)

71.4Grasp Success Rate

3

Jun 2, 2026

Robotiq-2F140 Industrial Manipulator (Isolated Objects)

85.7Grasp Success Rate

3

Jun 2, 2026

GraspNet RealSense Kinect

FeedForward-based (VGGT)

0.61Time (s)

3

Mar 18, 2026

Z1 MuJoCo Episodes

48Success Count (episodes)

2

May 12, 2026

Popular datasets

GraspNet Robotiq-2F140 Industrial Manipulator ShapeNet YCB Z1 MuJoCo Episodes

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