# MetaGraspNet_v0: A Large-Scale Benchmark Dataset for Vision-driven Robotic Grasping via Physics-based Metaverse Synthesis

arXiv: https://arxiv.org/abs/2112.14663 · HTML: https://mlsanity.com/paper/2112.14663/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 8 of its 16 references that are in the map.
- First posted on arXiv 29 Dec 2021.

## Builds on (most cited first, 8 of 8)

- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics](https://mlsanity.com/paper/1703.09312/) (2017)
- [Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes](https://mlsanity.com/paper/2103.14127/) (2021)
- [ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation](https://mlsanity.com/paper/1910.02550/) (2019)
- [Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach](https://mlsanity.com/paper/1804.05172/) (2018)
- [ROI-based Robotic Grasp Detection for Object Overlapping Scenes](https://mlsanity.com/paper/1808.10313/) (2018)
- [REGRAD: A Large-Scale Relational Grasp Dataset for Safe and Object-Specific Robotic Grasping in Clutter](https://mlsanity.com/paper/2104.14118/) (2021)
- [Visual Manipulation Relationship Network](https://mlsanity.com/paper/1802.08857/) (2018)

## Built on by (most cited first, 2 of 2)

- [AGILE: Approach-based Grasp Inference Learned from Element Decomposition](https://mlsanity.com/paper/2402.01303/) (2024)
- [DA-Fusion: Deformable Attention-Based RGB-D Fusion Transformer for Unseen Object Instance Segmentation](https://mlsanity.com/paper/2607.17754/) (2026)

## Abstract (arXiv)

There has been increasing interest in smart factories powered by robotics systems to tackle repetitive, laborious tasks. One impactful yet challenging task in robotics-powered smart factory applications is robotic grasping: using robotic arms to grasp objects autonomously in different settings. Robotic grasping requires a variety of computer vision tasks such as object detection, segmentation, grasp prediction, pick planning, etc. While significant progress has been made in leveraging of machine learning for robotic grasping, particularly with deep learning, a big challenge remains in the need for large-scale, high-quality RGBD datasets that cover a wide diversity of scenarios and permutations. To tackle this big, diverse data problem, we are inspired by the recent rise in the concept of metaverse, which has greatly closed the gap between virtual worlds and the physical world. Metaverses allow us to create digital twins of real-world manufacturing scenarios and to virtually create different scenarios from which large volumes of data can be generated for training models. In this paper, we present MetaGraspNet: a large-scale benchmark dataset for vision-driven robotic grasping via physics-based metaverse synthesis. The proposed dataset contains 100,000 images and 25 different object types and is split into 5 difficulties to evaluate object detection and segmentation model performance in different grasping scenarios. We also propose a new layout-weighted performance metric alongside the dataset for evaluating object detection and segmentation performance in a manner that is more appropriate for robotic grasp applications compared to existing general-purpose performance metrics. Our benchmark dataset is available open-source on Kaggle, with the first phase consisting of detailed object detection, segmentation, layout annotations, and a layout-weighted performance metric script.