DexGraspNet Benchmark Leaderboard
A large-scale dexterous grasping benchmark for evaluating stable and diverse grasps on general objects.
View Benchmark Repository12 models
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| Rank | Model | Suc.1 (GSR) | Date | Details |
|---|---|---|---|---|
| 1 | SECOND-Grasp SECOND-Grasp: Semantic Contact-guided Dexterous Grasping Original | 94.90 | 2026.05 | |
| 2 | EFF-Grasp EFF-Grasp: Energy-Field Flow Matching for Physics-Aware Dexterous Grasp Generation Original | 91.20 | 2026.03 | |
| 3 | DexGrasp Anything DexGrasp Anything: Towards Universal Robotic Dexterous Grasping with Physics Awareness Original | 90.40 | 2025.03 | |
| 4 | DemoGrasp DemoGrasp: Universal Dexterous Grasping from a Single Demonstration Original | 90.10 | 2025.09 | |
| 5 | UniGraspTransformer UniGraspTransformer: Simplified Policy Distillation for Scalable Dexterous Robotic Grasping Original | 86.80 | 2024.12 | |
| 6 | DexDiffuser DexDiffuser: Generating Dexterous Grasps with Diffusion Models Original | 82.94 | 2024.02 | |
| 7 | FFHNet FFHNet: Generating Multi-Fingered Robotic Grasps for Unknown Objects in Real-time Reported by DexDiffuser | 82.16 | 2022.05 | |
| 8 | UGG UGG: Unified Generative Grasping Reported by EFF-Grasp | 79.00 | 2023.11 | |
| 9 | UniDexGrasp UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policy Reported by EFF-Grasp | 70.10 | 2023.03 | |
| 10 | DDG Deep differentiable grasp planner for high-dof grippers Reported by DexGraspNet | 67.50 | 2020.01 | |
| 11 | SceneDiffuser Diffusion-based generation, optimization, and planning in 3d scenes Reported by EFF-Grasp | 66.90 | 2023.01 | |
| 12 | GraspTTA Hand-object contact consistency reasoning for human grasps generation Reported by EFF-Grasp | 24.50 | 2021.04 |