nvidia2025cc-by-4.0
GraspGen: Scaling Sim2Real Grasping
A large-scale simulated grasp dataset containing over 57 million grasps computed for 8515 objects from Objaverse XL, specific to three gripper types: Franka Panda, Robotiq-2f-140, and a single-contact suction gripper.
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Why This Matters for Physical AI
This dataset provides a large-scale collection of simulated grasps across multiple gripper embodiments and real objects, enabling training of sim-to-real transferable grasping policies.
Technical Profile
- Robot Embodiments
- Franka PandaRobotiq-2f-140suction gripper
- Environment
- simulation
- Task Types
- grasping
- Data Format
- WebDataset
- Annotation Types
- grasp_success_labelsgripper_poses
- License
- cc-by-4.0
Community Signals
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