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EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulation

arXiv 2003.01314 ↗First posted 3 Mar 2020cs.ROcited by 61

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Abstract (arXiv)

We present the Evolved Grasping Analysis Dataset (EGAD), comprising over 2000 generated objects aimed at training and evaluating robotic visual grasp detection algorithms. The objects in EGAD are geometrically diverse, filling a space ranging from simple to complex shapes and from easy to difficult to grasp, compared to other datasets for robotic grasping, which may be limited in size or contain only a small number of object classes. Additionally, we specify a set of 49 diverse 3D-printable evaluation objects to encourage reproducible testing of robotic grasping systems across a range of complexity and difficulty. The dataset, code and videos can be found at https://dougsm.github.io/egad/

Key facts. Cited by 61 papers in the map (data through 7 Oct 2026). First posted on arXiv 3 Mar 2020.

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Citing papers per year: 2021: 5; 2022: 11; 2023: 18; 2024: 11; 2025: 10; 2026: 6.

61 papers.

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  1. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,522
  2. 2023Objaverse-XL: A Universe of 10M+ 3D Objectscited by 767
  3. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  4. 2021A System for General In-Hand Object Re-Orientationcited by 155
  5. 2023HomeRobot: Open-Vocabulary Mobile Manipulationcited by 104
  6. 2023General In-Hand Object Rotation with Vision and Touchcited by 87
  7. 2024Advances in 3D Generation: A Surveycited by 62
  8. 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Modelscited by 46
  9. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  10. 2023Grasp-Anything: Large-scale Grasp Dataset from Foundation Modelscited by 33
  11. 2025GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Trainingcited by 32
  12. 2023pyribs: A Bare-Bones Python Library for Quality Diversity Optimizationcited by 29
38 more
  1. 2021DDGC: Generative Deep Dexterous Grasping in Cluttercited by 28
  2. 2024Language-driven Grasp Detectioncited by 26
  3. 2024ShapeSplat: A Large-scale Dataset of Gaussian Splats and Their Self-Supervised Pretrainingcited by 21
  4. 2023Proximal Policy Gradient Arborescence for Quality Diversity Reinforcement Learningcited by 20
  5. 2021Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transformscited by 17
  6. 2021Distributionally Robust Policy Learning via Adversarial Environment Generationcited by 17
  7. 2024LaGeM: A Large Geometry Model for 3D Representation Learning and Diffusioncited by 16
  8. 2025AnyDexGrasp: General Dexterous Grasping for Different Hands with Human-level Learning Efficiencycited by 14
  9. 2022MetaGraspNet: A Large-Scale Benchmark Dataset for Scene-Aware Ambidextrous Bin Picking via Physics-based Metaverse Synthesiscited by 13
  10. 2023Rapid Motor Adaptation for Robotic Manipulator Armscited by 13
  11. 2025ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Graspingcited by 13
  12. 2024Generalizing 6-DoF Grasp Detection via Domain Prior Knowledgecited by 11
  13. 2022DA2 Dataset: Toward Dexterity-Aware Dual-Arm Graspingcited by 10
  14. 2022Training Diverse High-Dimensional Controllers by Scaling Covariance Matrix Adaptation MAP-Annealingcited by 10
  15. 2023Recent Advances of Deep Robotic Affordance Learning: A Reinforcement Learning Perspectivecited by 10
  16. 2023The Quality-Diversity Transformer: Generating Behavior-Conditioned Trajectories with Decision Transformerscited by 10
  17. 2023ArrayBot: Reinforcement Learning for Generalizable Distributed Manipulation through Touchcited by 9
  18. 2023Reproducibility of Machine Learning: Terminology, Recommendations and Open Issuescited by 8
  19. 2022Meta-Learning Regrasping Strategies for Physical-Agnostic Objectscited by 7
  20. 2022Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Researchcited by 6
  21. 2023Quality Diversity under Sparse Reward and Sparse Interaction: Application to Grasping in Roboticscited by 6
  22. 2023Local object crop collision network for efficient simulation of non-convex objects in GPU-based simulatorscited by 5
  23. 2023Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Renderingcited by 5
  24. 2024An intuitive multi-frequency feature representation for SO(3)-equivariant networkscited by 5
  25. 2025Geometric Red-Teaming for Robotic Manipulationcited by 4
  26. 2023A Two-stage Fine-tuning Strategy for Generalizable Manipulation Skill of Embodied AIcited by 3
  27. 2024Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulationcited by 3
  28. 2023Wasserstein Distributionally Robust Control Barrier Function using Conditional Value-at-Risk with Differentiable Convex Programmingcited by 2
  29. 2024A Collision-Aware Cable Grasping Method in Cluttered Environmentcited by 2
  30. 2024QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversitycited by 2
  31. 2025GraspCoT: Integrating Physical Property Reasoning for 6-DoF Grasping under Flexible Language Instructionscited by 2
  32. 2021Stronger Generalization Guarantees for Robot Learning by Combining Generative Models and Real-World Datacited by 1
  33. 2022VGQ-CNN: Moving Beyond Fixed Cameras and Top-Grasps for Grasp Quality Predictioncited by 1
  34. 2022E2R: a Hierarchical-Learning inspired Novelty-Search method to generate diverse repertoires of grasping trajectoriescited by 1
  35. 2023Distributionally Safe Reinforcement Learning under Model Uncertainty: A Single-Level Approach by Differentiable Convex Programmingcited by 1
  36. 2025MISCGrasp: Leveraging Multiple Integrated Scales and Contrastive Learning for Enhanced Volumetric Graspingcited by 1
  37. 2026Discount Model Search for Quality Diversity Optimization in High-Dimensional Measure Spacescited by 1
  38. 2026RealVLG-R1: A Large-Scale Real-World Visual-Language Grounding Benchmark for Robotic Perception and Manipulationcited by 1

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