# A Self-supervised Contrastive Learning Method for Grasp Outcomes Prediction

arXiv: https://arxiv.org/abs/2306.14437 · HTML: https://mlsanity.com/paper/2306.14437/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 32 references that are in the map.
- First posted on arXiv 26 Jun 2023.

## Builds on (most cited first, 14 of 14)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [FaceNet: A Unified Embedding for Face Recognition and Clustering](https://mlsanity.com/paper/1503.03832/) (2015)
- [Improved Baselines with Momentum Contrastive Learning](https://mlsanity.com/paper/2003.04297/) (2020)
- [Unsupervised Feature Learning via Non-Parametric Instance-level Discrimination](https://mlsanity.com/paper/1805.01978/) (2018)
- [Unsupervised Representation Learning by Predicting Image Rotations](https://mlsanity.com/paper/1803.07728/) (2018)
- [Deep metric learning using Triplet network](https://mlsanity.com/paper/1412.6622/) (2014)
- [Unsupervised Embedding Learning via Invariant and Spreading Instance Feature](https://mlsanity.com/paper/1904.03436/) (2019)
- [Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes](https://mlsanity.com/paper/2103.14127/) (2021)
- [The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?](https://mlsanity.com/paper/1710.05512/) (2017)

## Built on by (most cited first, 1 of 1)

- [MISCGrasp: Leveraging Multiple Integrated Scales and Contrastive Learning for Enhanced Volumetric Grasping](https://mlsanity.com/paper/2507.02672/) (2025)

## Abstract (arXiv)

In this paper, we investigate the effectiveness of contrastive learning methods for predicting grasp outcomes in an unsupervised manner. By utilizing a publicly available dataset, we demonstrate that contrastive learning methods perform well on the task of grasp outcomes prediction. Specifically, the dynamic-dictionary-based method with the momentum updating technique achieves a satisfactory accuracy of 81.83% using data from one single tactile sensor, outperforming other unsupervised methods. Our results reveal the potential of contrastive learning methods for applications in the field of robot grasping and highlight the importance of accurate grasp prediction for achieving stable grasps.