ACRONYM: A Large-Scale Grasp Dataset Based on Simulation
Clemens Eppner Arsalan Mousavian Dieter Fox Clemens Eppner Arsalan Mousavian Dieter Fox
We introduce ACRONYM, a dataset for robot grasp planning based on physics simulation. The dataset contains 17.7M parallel-jaw grasps, spanning 8872 objects from 262 different categories, each labeled with the grasp result obtained from a physics simulator. We show the value of this large and diverse dataset by using it to train two state-of-the-art learning-based grasp planning algorithms. Grasp p...