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Papers Benchmarks Datasets Tasks

Dexterous Grasp Generation research benchmarks · SOTA2 Research

Dexterous Grasp Generation

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

Dexonomy Unseen Obj.

0.14P-FID

14

Feb 26, 2026

0.2P-FID

12

Feb 26, 2026

DexGraspNet 1.0 (test)

0.107Penetration Error

12

Feb 26, 2026

Dexonomy Unseen Grasp

0.83P-FID

7

Feb 26, 2026

Dexonomy Seen Obj. & Grasp

0.12P-FID

7

Feb 26, 2026

76.92SR

6

May 29, 2026

BiDexGrasp (TableTop)

5.1Diversity (Avg)

6

Apr 9, 2026

Dexterous Grasp Generation Capability Assessment

Physics-first grasp synthesis

5Physical Guidance Score

5

Jun 9, 2026

Dexterous Grasp Generation

0.259Grasp Diversity (KL)

4

Feb 26, 2026

84.7Success Rate (Barrett)

3

Feb 26, 2026

Popular datasets

Dexonomy OakInk Objaverse DexGraspNet DexGYSNet

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