mlsanityData to 14 Oct 2026

DA2 Dataset: Toward Dexterity-Aware Dual-Arm Grasping

arXiv 2208.00408 ↗First posted 31 Jul 2022cs.RO cs.CVcited by 11

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Abstract (arXiv)

In this paper, we introduce DA2, the first large-scale dual-arm dexterity-aware dataset for the generation of optimal bimanual grasping pairs for arbitrary large objects. The dataset contains about 9M pairs of parallel-jaw grasps, generated from more than 6000 objects and each labeled with various grasp dexterity measures. In addition, we propose an end-to-end dual-arm grasp evaluation model trained on the rendered scenes from this dataset. We utilize the evaluation model as our baseline to show the value of this novel and nontrivial dataset by both online analysis and real robot experiments. All data and related code will be open-sourced at https://sites.google.com/view/da2dataset.

Key facts. Cited by 11 papers in the map (data through 14 Oct 2026). Builds on 21 of its 47 references that are in the map. First posted on arXiv 31 Jul 2022.

Builds on

21 of 47 references.

References · 21

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  2. 2016Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collectioncited by 316
  3. 2017Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metricscited by 264
  4. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 218
  5. 2015Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hourscited by 209
  6. 2020ACRONYM: A Large-Scale Grasp Dataset Based on Simulationcited by 117
  7. 2013Deep Learning for Detecting Robotic Graspscited by 116
  8. 2017Grasp Pose Detection in Point Cloudscited by 111
  9. 2018Jacquard: A Large Scale Dataset for Robotic Grasp Detectioncited by 87
  10. 2018PointNetGPD: Detecting Grasp Configurations from Point Setscited by 80
  11. 2014Real-Time Grasp Detection Using Convolutional Neural Networkscited by 76
  12. 2021Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimatorcited by 71
9 more
  1. 2020EGAD! an Evolved Grasping Analysis Dataset for diversity and reproducibility in robotic manipulationcited by 61
  2. 2016Robotic Grasp Detection using Deep Convolutional Neural Networkscited by 47
  3. 2017Domain Randomization and Generative Models for Robotic Graspingcited by 36
  4. 2018ROI-based Robotic Grasp Detection for Object Overlapping Scenescited by 31
  5. 2019A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Setcited by 30
  6. 2018Fully Convolutional Grasp Detection Network with Oriented Anchor Boxcited by 27
  7. 2020Reactive Human-to-Robot Handovers of Arbitrary Objectscited by 25
  8. 2020Goal-Auxiliary Actor-Critic for 6D Robotic Grasping with Point Cloudscited by 24
  9. 2017An Integrated Simulator and Dataset that Combines Grasping and Vision for Deep Learningcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 2; 2023: 3; 2024: 2; 2025: 1; 2026: 3.

11 papers.

  1. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 53
  2. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 53
  3. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 41
  4. 2023On the Importance of Accurate Geometry Data for Dense 3D Vision Taskscited by 26
  5. 2022MonoGraspNet: 6-DoF Grasping with a Single RGB Imagecited by 24
  6. 2023SG-Bot: Object Rearrangement via Coarse-to-Fine Robotic Imagination on Scene Graphscited by 24
  7. 2024Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulationcited by 4
  8. 2024Bimanual Grasp Synthesis for Dexterous Robot Handscited by 3
  9. 2026Object Pose and Shape Estimation for Grasping: Does it Work?cited by 0
  10. 2026Grasp2Twist: Learning Bimanual Dexterous Jar Opening by Reinforcement Learningcited by 0
  11. 2026Steer2Grasp: Inference-Time Embodiment-Aware Steering for Diverse Physically Feasible Grasp Diffusioncited by 0