README.md

metadata

license: apache-2.0

FineGrasp: Towards Robust Grasping for Delicate Objects

Yun Du*, Mengao Zhao*, Tianwei Lin, Yiwei Jin, Chaodong Huang, Zhizhong Su

Grasp performance in GraspNet-1Billion dataset.

Method	ckpt	Camera	Seen (AP)	Similar (AP)	Novel (AP)	Average (AP)
FineGrasp	finegrasp_wo_sim.pth	Realsense	71.67	62.83	27.40	53.97
FineGrasp + CD	finegrasp_wo_sim.pth	Realsense	73.71	64.56	28.14	55.47
FineGrasp + Simulation Data	finegrasp_sim.pth	Realsense	70.21	61.98	26.18	52.79

We also provide a grasp-based baseline for Challenge Cup, please refer to this code

Notice: finegrasp_sim.pth is trained for Challenge Cup RoboTwin simulation benchmark.

Citation

@article{du2025finegrasp,
  title={FineGrasp: Towards Robust Grasping for Delicate Objects},
  author={Du, Yun and Zhao, Mengao and Lin, Tianwei and Jin, Yiwei and Huang, Chaodong and Su, Zhizhong},
  journal={arXiv preprint arXiv:2507.05978},
  year={2025}
}