Awesome-Robtoic-Grasping

• Grasping Method
  • CNN(Convolutional Neural Network)
  • NeRF
  • RL
  • MLLM
• Grasping Dataset
• Grasping Simulation
  • PyBullet
  • ROS+Gazebo
• Else Gripper | Else Arm
  • Dexterous Grasping
  • Dual-Arm Grasping
  • Suction Grasping
  • Multi-Fingered Grasping
• Research Group
  • USA
  • Europe
  • China
  • Google Deepmind
• Conference
• Talk
• Video
• Book
• Survey about Robotic Grasping
  • Github
  • Paper
• My Ideas

@ Date: 2023.11.25

@ Author: Zhi Wang(Leo TX)

@ Email: tx.leo.wz@gmail.com

📌mostly for two-fingers gripper

Grasping Method

CNN(Convolutional Neural Network)

Name	Features	📄Paper	🌐Project	📁Github
GPD	Detect grasp poses in point clouds	Paper	Project	Github
GQ-CNN	Grasp Quality Convolutional Neural Networks	Paper	Project	Github
GG-CNN	Generative Grasping CNN	Paper	Project	Github
GraspNet-Baseline	Baseline model for "GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping" (CVPR 2020)	Paper	Project	Github
GR-CNN	Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network	Paper	Project	Github
Contact-GraspNet		Paper	Project	Github
GPNet		Paper	Project	Github
Graspness		Paper	Project	Github
Keypoint-GraspNet	Keypoint-GraspNet: Keypoint-based 6-DoF Grasp Generation from the Monocular RGB-D input	Paper	Project	Github
		Paper	Project	Github
PointNetGPD		Paper	Project	Github
	RGB-D Grasp Detection via Depth Guided Learning with Cross-modal Attention	Paper			add depth in planar grasping
Scale-Balanced-Grasp	Towards Scale Balanced 6-DoF Grasp Detection in Cluttered Scenes	Paper	Project	Github
VCPD	Volumetric-based Contact Point Detection for 7-DoF Grasping	Paper	Project	Github
		Paper	Project	Github
L2G	End-to-End Learning to Grasp via Sampling From Object Point Clouds	Paper	Project	Github	pc
SymmetryGrasp	SymmetryGrasp: Symmetry-Aware Antipodal Grasp Detection From Single-View RGB-D Images	Paper	Project	Github	pc
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

NeRF

Name	Features	📄Paper	🌐Project	📁Github
VGN	VGN is a 3D convolutional neural network for real-time 6 DOF grasp pose detection. The network accepts a Truncated Signed Distance Function (TSDF) representation of the scene and outputs a volume of the same spatial resolution, where each cell contains the predicted quality, orientation, and width of a grasp executed at the center of the voxel. The network is trained on a synthetic grasping dataset generated with physics simulation.	Paper	Project	Github
GIGA	Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations	Paper	Project	Github
GraspNeRF	GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF	Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

RL

Name	Features	📄Paper	🌐Project	📁Github
visual-pushing-grasping	Learning Synergies between Pushing and Grasping with Self-supervised Deep Reinforcement Learning	Paper	Project	Github
drl_grasping	Deep Reinforcement Learning for Robotic Grasping from Octrees	Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

MLLM

Name	Features	📄Paper	🌐Project	📁Github
KOSMOS-E		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

Grasping Dataset

Name	Features	📄Paper	🌐Project	📁Github
Dex-Net	Dexterity Network	Paper	Project	Github
Cornell		Paper	Project	Github
Jacquard		Paper	Project	Github
VMRD		Paper	Project	Github
grasp_multiObject	Robotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data. This dataset is annotated using the same protocal as Cornell Dataset, and can be used as multi-object extension of Cornell Dataset.	Paper	Project	Github
OCID		Paper	Project	Github
Grasp-Anything		Paper	Project	Github
6-DoF GraspNet		Paper	Project	Github
EGAD		Paper	Project	Github
ACRONYM		Paper	Project	Github
MetaGraspNet		Paper	Project	Github
YCB-Video		Paper	Project	Github
GraspNet-1Billion
PID-GraspNet

Grasping Simulation

PyBullet

Name	Features	📄Paper	🌐Project	📁Github
ur5-robotic-grasping	Learning to Grasp Objects in Highly Cluttered Environments using Deep Convolutional Neural Networks	Paper	Project	Github
pybullet-robot-envs	A Python package that collects robotic environments based on the PyBullet simulator, suitable to develop and test Reinforcement Learning algorithms on simulated grasping and manipulation applications.	Paper	Project	Github
GIGA		Paper	Project	Github
Edge-Grasp-Network	grasp generation and process	Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

ROS+Gazebo

Name	Features	📄Paper	🌐Project	📁Github
grasping_sim	Leveraging Contact Forces for Learning to Grasp	Paper	Project	Github
grasping in gazebo	Grasping in GAZEBO robotics simulator.	Paper	Project	Github
airobot	Robot simulation repository for robotic grasping.	Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

Else Gripper | Else Arm

Dexterous Grasping

Name	Features	📄Paper	🌐Project	📁Github
	Generalized Anthropomorphic Functional Grasping with Minimal Demonstrations	Paper	Project	Github
DexGraspNet	DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulation	Paper	Project	Github
GenDexGrasp	GenDexGrasp: Generalizable Dexterous Grasping	Paper	Project	Github
HGC-Net	HGC-Net: Deep Anthropomorphic Hand Grasping in Clutter	Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

Dual-Arm Grasping

Name	Features	📄Paper	🌐Project	📁Github
DA2	DA2 Dataset: Toward Dexterity-Aware Dual-Arm Grasping	Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

Suction Grasping

Name	Features	📄Paper	🌐Project	📁Github
SuctionNet-1Billion		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

Multi-Fingered Grasping

Name	Features	📄Paper	🌐Project	📁Github
EfficientGrasp	EfficientGrasp: A Unified Data-Efficient Learning to Grasp Method for Multi-fingered Robot Hands	Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

Research Group

USA

• Shuran Song @ Stanford | REAL @ Stanford
• Ken Goldberg @ Berkeley | AutoLab @ Berkeley
• Jeannette Bohg @ Stanford | IPRL Lab @ Stanford
• Wenzhen Yuan @ UIUC | Touch Lab @ UIUC
• Yuke Zhu @ UT Austin | RPL @ UT Austin
• Hao Su @ UCSD | Su Lab @ UCSD
• Xiaolong Wang @ UCSD
• IVA Lab @ Georgia Tech(Personnel)
  • Yunzhi Lin @ Georgia Tech
  • Fu-Jen Chu@ Georgia Tech
  • grasp_multiObject
  • grasp_multiObject_multiGrasp
  • Keypoint-GraspNet

Europe

• Danica Kragic @ KTH
• Hamidreza Kasaei @ University of Groningen | IPL Lab @ University of Groningen

China

• Cewu Lu @ STJU | MVIG @ STJU
  • Haoshu Fang @ STJU
  • Chenxi Wang @ STJU
  • Minghao Gou @ STJU
  • Hongjie Fang @ STJU
• He Wang @ PKU | EPIC @ PKU
• Xuguang Lan @ XJTU
• IRIP Lab @ Beihang University
  • Haoxiang Ma @ Beihang University
  • Di Huang @ Beihang University

Google Deepmind

• Andy Zeng @ Google Deepmind

Conference

• RSS: Robotics: Science and Systems
• ICRA: IEEE International Conference on Robotics and Automation
• IROS: IEEE/RSJ International Conference on Intelligent Robots and Systems
• CoRL: Conference on Robot Learning
• CVPR: IEEE Conference on Computer Vision and Pattern Recognition
• ICCV: IEEE International Conference on Computer Vision
• ECCV: European Conference on Computer Vision
• NIPS: Conference on Neural Information Processing Systems
• RA-L: IEEE Robotics and Automation Letters
• Humanoids: IEEE-RAS International Conference on Humanoid Robots
• IJRR: The International Journal of Robotics Research
• ACM MM: ACM International Conference on Multimedia
• T-RO: IEEE Transactions on Robotics

Talk

• 具身智能 —— 上海交大 卢策吾教授

Video

• GraspNet Top-50抓取测试

Book

• A Mathematical Introduction to Robotic Manipulation
• Fundamentals Of Robotic Grasping And Fixturing
• Grasping in Robotics
• Robotic Grasping and Manipulation

Survey about Robotic Grasping

Github

• Robotic-grasping-papers
• awesome-grasping
• Awesome-Implicit-NeRF-Robotics
• awesome-robotics-libraries

Paper

• Deep Learning Approaches to Grasp Synthesis: A Review, [Project], [Paper].
• Robotic Grasping from Classical to Modern: A Survey, [Project], [Paper].
• Vision‑based robotic grasping from object localization, object pose estimation to grasp estimation for parallel grippers: a review, [Project], [Paper].
• Data-Driven Grasp Synthesis - A Survey

Name	Features	📄Paper	🌐Project	📁Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github
		Paper	Project	Github

My Ideas

• Multi-Views?
• Add depth to the planar grasping