mlsanityData to 7 Oct 2026

6-DOF GraspNet: Variational Grasp Generation for Object Manipulation

arXiv 1905.10520 ↗First posted 25 May 2019cs.CV cs.ROcited by 237

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Abstract (arXiv)

Generating grasp poses is a crucial component for any robot object manipulation task. In this work, we formulate the problem of grasp generation as sampling a set of grasps using a variational autoencoder and assess and refine the sampled grasps using a grasp evaluator model. Both Grasp Sampler and Grasp Refinement networks take 3D point clouds observed by a depth camera as input. We evaluate our approach in simulation and real-world robot experiments. Our approach achieves 88% success rate on various commonly used objects with diverse appearances, scales, and weights. Our model is trained purely in simulation and works in the real world without any extra steps. The video of our experiments can be found at: https://research.nvidia.com/publication/2019-106-DOF-GraspNet%3A-Variational

Key facts. Cited by 237 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 May 2019.

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Citing papers per year: 2021: 39; 2022: 41; 2023: 45; 2024: 52; 2025: 41; 2026: 19.

237 papers.

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  1. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
  2. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 501
  3. 2024A Survey on Vision-Language-Action Models for Embodied AIcited by 274
  4. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 213
  5. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 193
  6. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  7. 2021Hand-Object Contact Consistency Reasoning for Human Grasps Generationcited by 160
  8. 2021A System for General In-Hand Object Re-Orientationcited by 155
  9. 2021Revisiting Point Cloud Shape Classification with a Simple and Effective Baselinecited by 145
  10. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusioncited by 125
  11. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 120
  12. 2021Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objectscited by 119
38 more
  1. 2021Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representationscited by 107
  2. 2022DALL-E-Bot: Introducing Web-Scale Diffusion Models to Roboticscited by 105
  3. 2022Navigating to Objects in the Real Worldcited by 104
  4. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  5. 2023GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fieldscited by 99
  6. 2023Language Embedded Radiance Fields for Zero-Shot Task-Oriented Graspingcited by 91
  7. 2024Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interactioncited by 84
  8. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 78
  9. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 73
  10. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  11. 2021StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objectscited by 57
  12. 2023NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesiscited by 56
  13. 2022TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baselinecited by 55
  14. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 54
  15. 2022Motion Policy Networkscited by 53
  16. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 52
  17. 2021Human Hands as Probes for Interactive Object Understandingcited by 51
  18. 2022SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fieldscited by 51
  19. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  20. 2024Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Taskscited by 51
  21. 2021A Skeleton-Driven Neural Occupancy Representation for Articulated Handscited by 50
  22. 2021CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulationcited by 49
  23. 2024Graspness Discovery in Clutters for Fast and Accurate Grasp Detectioncited by 47
  24. 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Modelscited by 46
  25. 2022Discovering Objects that Can Movecited by 44
  26. 2021Language Grounding with 3D Objectscited by 43
  27. 2022IFOR: Iterative Flow Minimization for Robotic Object Rearrangementcited by 42
  28. 2023When Prompt-based Incremental Learning Does Not Meet Strong Pretrainingcited by 41
  29. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 41
  30. 2024GraspSplats: Efficient Manipulation with 3D Feature Splattingcited by 41
  31. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 41
  32. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  33. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 40
  34. 2023M2T2: Multi-Task Masked Transformer for Object-centric Pick and Placecited by 40
  35. 2024EmbodiedSAM: Online Segment Any 3D Thing in Real Timecited by 40
  36. 2024RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulationcited by 40
  37. 2021Seeing Glass: Joint Point Cloud and Depth Completion for Transparent Objectscited by 39
  38. 2023Compositional Diffusion-Based Continuous Constraint Solverscited by 39

50 most cited of 237 All 237 (JSON)