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license: apache-2.0
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---
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license: apache-2.0
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---
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# FineGrasp: Towards Robust Grasping for Delicate Objects
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<div align="center" class="authors">
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<a href="https://scholar.google.com/citations?user=Ke5SamYAAAAJ&hl=en" target="_blank">Yun Du*</a>,
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<a href="https://scholar.google.com/citations?hl=en&user=aB02FDEAAAAJ" target="_blank">Mengao Zhao*</a>,
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<a href="https://wzmsltw.github.io/" target="_blank">Tianwei Lin</a>,
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<a href="" target="_blank">Yiwei Jin</a>,
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<a href="" target="_blank">Chaodong Huang</a>,
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<a href="https://scholar.google.com/citations?user=HQfc8TEAAAAJ&hl=en" target="_blank">Zhizhong Su</a>
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</div>
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<div align="center" style="line-height: 3;">
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<a href="https://github.com/HorizonRobotics/robo_orchard_lab/tree/master/projects/finegrasp_graspnet1b" target="_blank" style="margin: 2px;">
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<img alt="Code" src="https://img.shields.io/badge/Code-Github-bule" style="display: inline-block; vertical-align: middle;"/>
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</a>
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<a href="https://arxiv.org/abs/2507.05978" target="_blank" style="margin: 2px;">
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<img alt="Paper" src="https://img.shields.io/badge/Paper-arxiv-red" style="display: inline-block; vertical-align: middle;"/>
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</a>
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<a href="https://huggingface.co/HorizonRobotics/Finegrasp" target="_blank" style="margin: 2px;">
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<img alt="Model" src="https://img.shields.io/badge/Model-HuggingFace-red" style="display: inline-block; vertical-align: middle;"/>
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</a>
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</div>
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# Grasp performance in GraspNet-1Billion dataset.
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| Method | ckpt | Camera | Seen (AP) | Similar (AP) | Novel (AP) | Average (AP) |
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| --------- | ---- | --------- | --------- | ------------ | ---------- | ---------- |
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| FineGrasp | finegrasp_wo_sim.pth | Realsense | 71.67 | 62.83 | 27.40 | 53.97 |
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| FineGrasp + CD | finegrasp_wo_sim.pth | Realsense | 73.71 | 64.56 | 28.14 | 55.47 |
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| FineGrasp + Simulation Data | finegrasp_sim.pth | Realsense | 70.21 | 61.98 | 26.18 | 52.79 |
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We also provide a grasp-based baseline for [Challenge Cup](https://developer.d-robotics.cc/tiaozhanbei-2025), please refer to this [code](https://github.com/HorizonRobotics/robo_orchard_lab/tree/master/projects/pick_place_agent)
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> Notice: finegrasp_sim.pth is trained for [Challenge Cup](https://developer.d-robotics.cc/tiaozhanbei-2025) RoboTwin simulation benchmark.
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# Citation
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```
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@article{du2025finegrasp,
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title={FineGrasp: Towards Robust Grasping for Delicate Objects},
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author={Du, Yun and Zhao, Mengao and Lin, Tianwei and Jin, Yiwei and Huang, Chaodong and Su, Zhizhong},
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journal={arXiv preprint arXiv:2507.05978},
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year={2025}
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}
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```
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