mlsanityData to 7 Oct 2026

AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains

arXiv 2212.08333 ↗First posted 16 Dec 2022cs.ROcited by 205

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Cited by 23 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

As the basis for prehensile manipulation, it is vital to enable robots to grasp as robustly as humans. Our innate grasping system is prompt, accurate, flexible, and continuous across spatial and temporal domains. Few existing methods cover all these properties for robot grasping. In this paper, we propose AnyGrasp for grasp perception to enable robots these abilities using a parallel gripper. Specifically, we develop a dense supervision strategy with real perception and analytic labels in the spatial-temporal domain. Additional awareness of objects' center-of-mass is incorporated into the learning process to help improve grasping stability. Utilization of grasp correspondence across observations enables dynamic grasp tracking. Our model can efficiently generate accurate, 7-DoF, dense, and temporally-smooth grasp poses and works robustly against large depth-sensing noise. Using AnyGrasp, we achieve a 93.3% success rate when clearing bins with over 300 unseen objects, which is on par with human subjects under controlled conditions. Over 900 mean-picks-per-hour is reported on a single-arm system. For dynamic grasping, we demonstrate catching swimming robot fish in the water. Our project page is at https://graspnet.net/anygrasp.html

Key facts. Cited by 205 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Dec 2022.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 10; 2024: 56; 2025: 81; 2026: 58.

205 papers.

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  1. 2025π0.5: a Vision-Language-Action Model with Open-World Generalizationcited by 1,653
  2. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 305
  3. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  4. 2024RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulationcited by 166
  5. 2024Data Scaling Laws in Imitation Learning for Robotic Manipulationcited by 144
  6. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 120
  7. 2024RoboMamba: Efficient Vision-Language-Action Model for Robotic Reasoning and Manipulationcited by 102
  8. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  9. 2025InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policycited by 83
  10. 2024General Flow as Foundation Affordance for Scalable Robot Learningcited by 80
  11. 2024GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Graspingcited by 77
  12. 2024Robo-ABC: Affordance Generalization Beyond Categories via Semantic Correspondence for Robot Manipulationcited by 69
38 more
  1. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 60
  2. 2024RoboCodeX: Multimodal Code Generation for Robotic Behavior Synthesiscited by 55
  3. 2024RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulationcited by 55
  4. 2025RoboGround: Robotic Manipulation with Grounded Vision-Language Priorscited by 50
  5. 2026InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulationcited by 48
  6. 2024Graspness Discovery in Clutters for Fast and Accurate Grasp Detectioncited by 47
  7. 2025InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policycited by 46
  8. 2024Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot Learningcited by 45
  9. 2024Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulationcited by 45
  10. 2024Robot Utility Models: General Policies for Zero-Shot Deployment in New Environmentscited by 43
  11. 2024GraspSplats: Efficient Manipulation with 3D Feature Splattingcited by 41
  12. 2024DexGraspNet 2.0: Learning Generative Dexterous Grasping in Large-scale Synthetic Cluttered Scenescited by 41
  13. 2024RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulationcited by 40
  14. 2024KARMA: Augmenting Embodied AI Agents with Long-and-short Term Memory Systemscited by 38
  15. 2025NovaFlow: Zero-Shot Manipulation via Actionable Flow from Generated Videoscited by 38
  16. 2024Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splattingcited by 37
  17. 20253DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Modelcited by 36
  18. 2024AffordDP: Generalizable Diffusion Policy with Transferable Affordancecited by 35
  19. 2024Learning Precise Affordances from Egocentric Videos for Robotic Manipulationcited by 34
  20. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  21. 2025MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulationcited by 34
  22. 2023Grasp-Anything: Large-scale Grasp Dataset from Foundation Modelscited by 33
  23. 2024OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Roboticscited by 33
  24. 2025Robotic Manipulation by Imitating Generated Videos Without Physical Demonstrationscited by 33
  25. 2024DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulationcited by 32
  26. 2025GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Trainingcited by 32
  27. 2025ZeroMimic: Distilling Robotic Manipulation Skills from Web Videoscited by 31
  28. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  29. 2024CoA-VLA: Improving Vision-Language-Action Models via Visual-Textual Chain-of-Affordancecited by 29
  30. 2024DITTO: Demonstration Imitation by Trajectory Transformationcited by 28
  31. 2025RoboOS: A Hierarchical Embodied Framework for Cross-Embodiment and Multi-Agent Collaborationcited by 28
  32. 2025TIGeR: Tool-Integrated Geometric Reasoning in Vision-Language Models for Roboticscited by 27
  33. 2024RoboScript: Code Generation for Free-Form Manipulation Tasks across Real and Simulationcited by 24
  34. 2024An Economic Framework for 6-DoF Grasp Detectioncited by 23
  35. 2023Challenges for Monocular 6D Object Pose Estimation in Roboticscited by 21
  36. 2023GAMMA: Graspability-Aware Mobile MAnipulation Policy Learning based on Online Grasping Pose Fusioncited by 21
  37. 2025Robotic Visual Instructioncited by 21
  38. 2025AC-DiT: Adaptive Coordination Diffusion Transformer for Mobile Manipulationcited by 21

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