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

@misc{du2025finegrasp,
    title={FineGrasp: Towards Robust Grasping for Delicate Objects}, 
    author={Yun Du and Mengao Zhao and Tianwei Lin and Yiwei Jin and Chaodong Huang and Zhizhong Su},
    year={2025},
    eprint={2507.05978},
    archivePrefix={arXiv},
    primaryClass={cs.RO},
    url={https://arxiv.org/abs/2507.05978}, 
}