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ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

arXiv 2011.09584 ↗First posted 18 Nov 2020cs.RO cs.CVcited by 115

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Abstract (arXiv)

We introduce ACRONYM, a dataset for robot grasp planning based on physics simulation. The dataset contains 17.7M parallel-jaw grasps, spanning 8872 objects from 262 different categories, each labeled with the grasp result obtained from a physics simulator. We show the value of this large and diverse dataset by using it to train two state-of-the-art learning-based grasp planning algorithms. Grasp performance improves significantly when compared to the original smaller dataset. Data and tools can be accessed at https://sites.google.com/nvidia.com/graspdataset.

Key facts. Cited by 115 papers in the map (data through 7 Oct 2026). First posted on arXiv 18 Nov 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 6; 2022: 22; 2023: 20; 2024: 34; 2025: 24; 2026: 9.

115 papers.

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  1. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  2. 2024RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Roboticscited by 242
  3. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 213
  4. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  5. 2022Diffusion-SDF: Conditional Generative Modeling of Signed Distance Functionscited by 133
  6. 2022DexGraspNet: A Large-Scale Robotic Dexterous Grasp Dataset for General Objects Based on Simulationcited by 129
  7. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusioncited by 125
  8. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 120
  9. 2023On Bringing Robots Homecited by 101
  10. 2024In-Context Imitation Learning via Next-Token Predictioncited by 65
  11. 2023Imitating Task and Motion Planning with Visuomotor Transformerscited by 63
  12. 2024GraspXL: Generating Grasping Motions for Diverse Objects at Scalecited by 59
38 more
  1. 2021StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objectscited by 57
  2. 2023NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesiscited by 56
  3. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  4. 2022Factory: Fast Contact for Robotic Assemblycited by 49
  5. 2021SORNet: Spatial Object-Centric Representations for Sequential Manipulationcited by 48
  6. 2021Language Grounding with 3D Objectscited by 43
  7. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 41
  8. 2023M2T2: Multi-Task Masked Transformer for Object-centric Pick and Placecited by 40
  9. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 39
  10. 2024Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrationscited by 35
  11. 2023Learning Human-to-Robot Handovers from Point Cloudscited by 34
  12. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  13. 2023Grasp-Anything: Large-scale Grasp Dataset from Foundation Modelscited by 33
  14. 2024OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Roboticscited by 33
  15. 2025GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Trainingcited by 32
  16. 2022GenSDF: Two-Stage Learning of Generalizable Signed Distance Functionscited by 30
  17. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  18. 2024SUGAR: Pre-training 3D Visual Representations for Roboticscited by 26
  19. 2024Language-driven Grasp Detectioncited by 26
  20. 2022MonoGraspNet: 6-DoF Grasping with a Single RGB Imagecited by 24
  21. 2021Predicting Stable Configurations for Semantic Placement of Novel Objectscited by 23
  22. 2024An Economic Framework for 6-DoF Grasp Detectioncited by 23
  23. 2023Language-guided Robot Grasping: CLIP-based Referring Grasp Synthesis in Cluttercited by 22
  24. 2022Robot Learning of Mobile Manipulation with Reachability Behavior Priorscited by 20
  25. 2022TriCoLo: Trimodal Contrastive Loss for Text to Shape Retrievalcited by 18
  26. 2023Grasp Multiple Objects with One Handcited by 18
  27. 2023Learning 6-DoF Fine-grained Grasp Detection Based on Part Affordance Groundingcited by 17
  28. 2023CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generationcited by 17
  29. 2024Composable Part-Based Manipulationcited by 17
  30. 2024DDMI: Domain-Agnostic Latent Diffusion Models for Synthesizing High-Quality Implicit Neural Representationscited by 16
  31. 2024Language-Driven 6-DoF Grasp Detection Using Negative Prompt Guidancecited by 16
  32. 2021Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimationcited by 14
  33. 2023MVTrans: Multi-View Perception of Transparent Objectscited by 14
  34. 2024GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation, Demonstration, and Imitationcited by 14
  35. 2022MetaGraspNet: A Large-Scale Benchmark Dataset for Scene-Aware Ambidextrous Bin Picking via Physics-based Metaverse Synthesiscited by 13
  36. 2023SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handoverscited by 13
  37. 2023GraspLDM: Generative 6-DoF Grasp Synthesis using Latent Diffusion Modelscited by 13
  38. 2024Towards Open-World Grasping with Large Vision-Language Modelscited by 13

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