# grasping: 93 catalogue datasets

Rows 1 to 93, sorted by hours, datasets that do not state it last.

This page reaches the end of the list.

| dataset | kind | robot class | hours | episodes | year | licence | access | id |
|---|---|---|---|---|---|---|---|---|
| [Supersizing Self-supervision grasp data](https://datasets.gurasees.com/datasets/supersizing-self-supervision-grasp-data.md) | grasping | single arm | 700 |  | 2015 | not stated | not stated | supersizing-self-supervision-grasp-data |
| [ll4ma-lab/grasp-dataset](https://datasets.gurasees.com/datasets/ll4ma-lab-grasp-dataset.md) | grasping | other |  |  | 2025 | not stated | open | ll4ma-lab-grasp-dataset |
| [Grasp-Anything-6D](https://datasets.gurasees.com/datasets/grasp-anything-6d.md) | grasping | sensor only |  |  | 2024 | open | open | grasp-anything-6d |
| [GraspGen](https://datasets.gurasees.com/datasets/graspgen.md) | grasping | simulation |  |  | 2025 | open | open | graspgen |
| [GraspClutter6D](https://datasets.gurasees.com/datasets/graspclutter6d.md) | grasping | sensor only |  |  | 2025 | open | open | graspclutter6d |
| [Multi-GraspSet (Multi-GraspLLM)](https://datasets.gurasees.com/datasets/multi-graspset-multi-graspllm.md) | grasping | dexterous hand |  |  | 2024 | not stated | open | multi-graspset-multi-graspllm |
| [Grasp-Anything](https://datasets.gurasees.com/datasets/grasp-anything.md) | grasping | sensor only |  |  | 2023 | open | gated | grasp-anything |
| [GraspXL](https://datasets.gurasees.com/datasets/graspxl.md) | grasping | dexterous hand |  |  | 2024 | non commercial | open | graspxl |
| [DexGraspNet 2.0](https://datasets.gurasees.com/datasets/dexgraspnet-2-0.md) | grasping | dexterous hand |  |  | 2024 | non commercial | open | dexgraspnet-2-0 |
| [DexGrasp Anything](https://datasets.gurasees.com/datasets/dexgrasp-anything.md) | grasping | dexterous hand |  |  | 2025 | open | open | dexgrasp-anything |
| [DA2](https://datasets.gurasees.com/datasets/da2.md) | grasping | bimanual |  |  | 2022 | not stated | open | da2 |
| [DG16M](https://datasets.gurasees.com/datasets/dg16m.md) | grasping | bimanual |  |  | 2025 | not stated | not stated | dg16m |
| [MultiGripperGrasp](https://datasets.gurasees.com/datasets/multigrippergrasp.md) | grasping | cross embodiment |  |  | 2024 | not stated | open | multigrippergrasp |
| [ARQ-CRISP slip detection dataset 2021](https://datasets.gurasees.com/datasets/arq-crisp-slip-detection-dataset-2021.md) | grasping | dexterous hand |  |  | 2021 | not stated | open | arq-crisp-slip-detection-dataset-2021 |
| [BiGS (BioTac Grasp Stability)](https://datasets.gurasees.com/datasets/bigs-biotac-grasp-stability.md) | grasping | dexterous hand |  |  |  | not stated | not stated | bigs-biotac-grasp-stability |
| [BODex](https://datasets.gurasees.com/datasets/bodex.md) | grasping | dexterous hand |  |  | 2024 | not stated | open | bodex |
| [DexGraspNet](https://datasets.gurasees.com/datasets/dexgraspnet.md) | grasping | dexterous hand |  |  | 2022 | non commercial | open | dexgraspnet |
| [DexGYSNet (Grasp as You Say)](https://datasets.gurasees.com/datasets/dexgysnet-grasp-as-you-say.md) | grasping | dexterous hand |  |  | 2024 | not stated | open | dexgysnet-grasp-as-you-say |
| [Dexonomy](https://datasets.gurasees.com/datasets/dexonomy.md) | grasping | dexterous hand |  |  | 2025 | not stated | open | dexonomy |
| [DGS-Net multi-object dexterous grasp dataset](https://datasets.gurasees.com/datasets/dgs-net-multi-object-dexterous-grasp-dataset.md) | grasping | dexterous hand |  |  | 2026 | not stated | not stated | dgs-net-multi-object-dexterous-grasp-dataset |
| [Get a Grip](https://datasets.gurasees.com/datasets/get-a-grip.md) | grasping | dexterous hand |  |  | 2024 | not stated | open | get-a-grip |
| [Grasp'D-1M (Fast-Grasp'D)](https://datasets.gurasees.com/datasets/grasp-d-1m-fast-grasp-d.md) | grasping | dexterous hand |  |  | 2023 | not stated | open | grasp-d-1m-fast-grasp-d |
| [Grasp'Em (MultiGrasp)](https://datasets.gurasees.com/datasets/grasp-em-multigrasp.md) | grasping | dexterous hand |  |  | 2024 | not stated | open | grasp-em-multigrasp |
| [Learning Gentle Grasping dataset](https://datasets.gurasees.com/datasets/learning-gentle-grasping-dataset.md) | grasping | dexterous hand |  |  | 2025 | not stated | open | learning-gentle-grasping-dataset |
| [MultiDex (GenDexGrasp)](https://datasets.gurasees.com/datasets/multidex-gendexgrasp.md) | grasping | dexterous hand |  |  | 2022 | not stated | open | multidex-gendexgrasp |
| [ScaleADFG](https://datasets.gurasees.com/datasets/scaleadfg.md) | grasping | dexterous hand |  |  | 2025 | not stated | not stated | scaleadfg |
| [UniDexGrasp](https://datasets.gurasees.com/datasets/unidexgrasp.md) | grasping | dexterous hand |  |  | 2023 | not stated | open | unidexgrasp |
| [UniFucGrasp](https://datasets.gurasees.com/datasets/unifucgrasp.md) | grasping | dexterous hand |  |  | 2025 | not stated | not stated | unifucgrasp |
| [40K naturalistic 6-DoF grasp demonstrations](https://datasets.gurasees.com/datasets/40k-naturalistic-6-dof-grasp-demonstrations.md) | grasping | other |  |  | 2018 | not stated | not stated | 40k-naturalistic-6-dof-grasp-demonstrations |
| [Robot Learning in Homes grasping dataset](https://datasets.gurasees.com/datasets/robot-learning-in-homes-grasping-dataset.md) | grasping | low cost arm |  |  | 2018 | not stated | open | robot-learning-in-homes-grasping-dataset |
| [Robot handle grasping failure data](https://datasets.gurasees.com/datasets/robot-handle-grasping-failure-data.md) | grasping | mobile manipulator |  |  | 2021 | open | open | robot-handle-grasping-failure-data |
| [AffordPose](https://datasets.gurasees.com/datasets/affordpose.md) | grasping | other |  |  | 2023 | unclear | open | affordpose |
| [CapGrasp (SemGrasp)](https://datasets.gurasees.com/datasets/capgrasp-semgrasp.md) | grasping | other |  |  | 2024 | not stated | open | capgrasp-semgrasp |
| [ContactDB](https://datasets.gurasees.com/datasets/contactdb.md) | grasping | other |  |  | 2019 | not stated | open | contactdb |
| [ContactPose](https://datasets.gurasees.com/datasets/contactpose.md) | grasping | other |  |  | 2020 | not stated | open | contactpose |
| [EGAD](https://datasets.gurasees.com/datasets/egad.md) | grasping | other |  |  | 2020 | not stated | open | egad |
| [GCA-Bench](https://datasets.gurasees.com/datasets/gca-bench.md) | grasping | other |  |  | 2026 | not stated | not stated | gca-bench |
| [GRAB](https://datasets.gurasees.com/datasets/grab.md) | grasping | other |  |  | 2020 | custom terms | gated | grab |
| [Grasps Under Varied Object Orientation Dataset](https://datasets.gurasees.com/datasets/grasps-under-varied-object-orientation-dataset.md) | grasping | other |  |  | 2021 | not stated | not stated | grasps-under-varied-object-orientation-dataset |
| [ClearGrasp](https://datasets.gurasees.com/datasets/cleargrasp.md) | grasping | sensor only |  |  | 2019 | not stated | open | cleargrasp |
| [Cornell Grasping Dataset](https://datasets.gurasees.com/datasets/cornell-grasping-dataset.md) | grasping | sensor only |  |  | 2011 | not stated | not stated | cornell-grasping-dataset |
| [DREDS and STD](https://datasets.gurasees.com/datasets/dreds-and-std.md) | grasping | sensor only |  |  | 2022 | non commercial | open | dreds-and-std |
| [Event-Stream grasping dataset](https://datasets.gurasees.com/datasets/event-stream-grasping-dataset.md) | grasping | sensor only |  |  | 2020 | not stated | not stated | event-stream-grasping-dataset |
| [GraspNet-1Billion](https://datasets.gurasees.com/datasets/graspnet-1billion.md) | grasping | sensor only |  |  | 2020 | non commercial | open | graspnet-1billion |
| [LA-TaskGrasp (GraspGPT)](https://datasets.gurasees.com/datasets/la-taskgrasp-graspgpt.md) | grasping | sensor only |  |  | 2023 | not stated | open | la-taskgrasp-graspgpt |
| [NBMOD](https://datasets.gurasees.com/datasets/nbmod.md) | grasping | sensor only |  |  | 2023 | unclear | open | nbmod |
| [OCID-Grasp](https://datasets.gurasees.com/datasets/ocid-grasp.md) | grasping | sensor only |  |  | 2021 | unclear | open | ocid-grasp |
| [OCID-VLG](https://datasets.gurasees.com/datasets/ocid-vlg.md) | grasping | sensor only |  |  | 2023 | not stated | open | ocid-vlg |
| [Real Embodied Dataset (RED)](https://datasets.gurasees.com/datasets/real-embodied-dataset-red.md) | grasping | sensor only |  |  | 2020 | not stated | not stated | real-embodied-dataset-red |
| [Reasoning grasping benchmark](https://datasets.gurasees.com/datasets/reasoning-grasping-benchmark.md) | grasping | sensor only |  |  | 2024 | not stated | not stated | reasoning-grasping-benchmark |
| [RoboRefIt (VL-Grasp)](https://datasets.gurasees.com/datasets/roborefit-vl-grasp.md) | grasping | sensor only |  |  | 2023 | not stated | open | roborefit-vl-grasp |
| [SpikeGrasp](https://datasets.gurasees.com/datasets/spikegrasp.md) | grasping | sensor only |  |  | 2025 | not stated | not stated | spikegrasp |
| [SuctionNet-1Billion](https://datasets.gurasees.com/datasets/suctionnet-1billion.md) | grasping | sensor only |  |  | 2021 | non commercial | open | suctionnet-1billion |
| [TaskGrasp](https://datasets.gurasees.com/datasets/taskgrasp.md) | grasping | sensor only |  |  | 2020 | not stated | open | taskgrasp |
| [TD-TOG](https://datasets.gurasees.com/datasets/td-tog.md) | grasping | sensor only |  |  | 2025 | not stated | not stated | td-tog |
| [TransCG](https://datasets.gurasees.com/datasets/transcg.md) | grasping | sensor only |  |  | 2022 | non commercial | open | transcg |
| [VMRD (Visual Manipulation Relationship Dataset)](https://datasets.gurasees.com/datasets/vmrd-visual-manipulation-relationship-dataset.md) | grasping | sensor only |  |  | 2018 | not stated | not stated | vmrd-visual-manipulation-relationship-dataset |
| [6-DOF GraspNet data](https://datasets.gurasees.com/datasets/6-dof-graspnet-data.md) | grasping | simulation |  |  | 2019 | unclear | open | 6-dof-graspnet-data |
| [A Billion Ways to Grasp](https://datasets.gurasees.com/datasets/a-billion-ways-to-grasp.md) | grasping | simulation |  |  | 2019 | not stated | not stated | a-billion-ways-to-grasp |
| [ACRONYM](https://datasets.gurasees.com/datasets/acronym.md) | grasping | simulation |  |  | 2020 | unclear | open | acronym |
| [Columbia Grasp Database](https://datasets.gurasees.com/datasets/columbia-grasp-database.md) | grasping | simulation |  |  | 2009 | not stated | open | columbia-grasp-database |
| [Contact-GraspNet training scenes](https://datasets.gurasees.com/datasets/contact-graspnet-training-scenes.md) | grasping | simulation |  |  | 2021 | unclear | open | contact-graspnet-training-scenes |
| [DefGraspSim](https://datasets.gurasees.com/datasets/defgraspsim.md) | grasping | simulation |  |  | 2021 | unclear | open | defgraspsim |
| [Dex-Net 2.0](https://datasets.gurasees.com/datasets/dex-net-2-0.md) | grasping | simulation |  |  | 2017 | not stated | open | dex-net-2-0 |
| [GraspFactory](https://datasets.gurasees.com/datasets/graspfactory.md) | grasping | simulation |  |  | 2025 | custom terms | open | graspfactory |
| [GraspIT](https://datasets.gurasees.com/datasets/graspit.md) | grasping | simulation |  |  | 2026 | not stated | not stated | graspit |
| [GraspNeRF dataset](https://datasets.gurasees.com/datasets/graspnerf-dataset.md) | grasping | simulation |  |  | 2023 | not stated | open | graspnerf-dataset |
| [GRIP](https://datasets.gurasees.com/datasets/grip.md) | grasping | simulation |  |  | 2025 | not stated | not stated | grip |
| [GRIP Dataset](https://datasets.gurasees.com/datasets/grip-dataset.md) | grasping | simulation |  |  | 2025 | not stated | open | grip-dataset |
| [Integrated grasping and vision simulator dataset (Veres)](https://datasets.gurasees.com/datasets/integrated-grasping-and-vision-simulator-dataset-veres.md) | grasping | simulation |  |  | 2017 | not stated | not stated | integrated-grasping-and-vision-simulator-dataset-veres |
| [Jacquard](https://datasets.gurasees.com/datasets/jacquard.md) | grasping | simulation |  |  | 2018 | custom terms | on request | jacquard |
| [LangSHAPE](https://datasets.gurasees.com/datasets/langshape.md) | grasping | simulation |  |  | 2023 | not stated | not stated | langshape |
| [MetaGraspNet / MetaGraspNetV2](https://datasets.gurasees.com/datasets/metagraspnet-metagraspnetv2.md) | grasping | simulation |  |  | 2022 | unclear | open | metagraspnet-metagraspnetv2 |
| [Parcel-Suction-Dataset](https://datasets.gurasees.com/datasets/parcel-suction-dataset.md) | grasping | simulation |  |  | 2025 | not stated | not stated | parcel-suction-dataset |
| [PRISM (GraspMolmo)](https://datasets.gurasees.com/datasets/prism-graspmolmo.md) | grasping | simulation |  |  | 2025 | not stated | open | prism-graspmolmo |
| [QDGset](https://datasets.gurasees.com/datasets/qdgset.md) | grasping | simulation |  |  | 2024 | not stated | not stated | qdgset |
| [REGRAD](https://datasets.gurasees.com/datasets/regrad.md) | grasping | simulation |  |  | 2021 | not stated | open | regrad |
| [Sim-Grasp-Dataset](https://datasets.gurasees.com/datasets/sim-grasp-dataset.md) | grasping | simulation |  |  | 2024 | not stated | not stated | sim-grasp-dataset |
| [Sim-MEES](https://datasets.gurasees.com/datasets/sim-mees.md) | grasping | simulation |  |  | 2023 | not stated | not stated | sim-mees |
| [Sim-Suction-Dataset](https://datasets.gurasees.com/datasets/sim-suction-dataset.md) | grasping | simulation |  |  | 2023 | not stated | open | sim-suction-dataset |
| [TARGO](https://datasets.gurasees.com/datasets/targo.md) | grasping | simulation |  |  | 2024 | not stated | not stated | targo |
| [VGN synthetic grasp data](https://datasets.gurasees.com/datasets/vgn-synthetic-grasp-data.md) | grasping | simulation |  |  | 2020 | unclear | open | vgn-synthetic-grasp-data |
| [Google Brain Grasping Dataset](https://datasets.gurasees.com/datasets/google-brain-grasping-dataset.md) | real manipulation scripted or autonomous | single arm |  |  | 2016 | open | not stated | google-brain-grasping-dataset |
| [GRAB food waste grasping-in-clutter benchmark](https://datasets.gurasees.com/datasets/grab-food-waste-grasping-in-clutter-benchmark.md) | grasping | single arm |  |  | 2026 | not stated | not stated | grab-food-waste-grasping-in-clutter-benchmark |
| [MIT-Princeton ARC 2017 grasping and suction data](https://datasets.gurasees.com/datasets/mit-princeton-arc-2017-grasping-and-suction-data.md) | grasping | single arm |  |  | 2017 | not stated | open | mit-princeton-arc-2017-grasping-and-suction-data |
| [More Than a Feeling](https://datasets.gurasees.com/datasets/more-than-a-feeling.md) | grasping | single arm |  |  | 2018 | not stated | not stated | more-than-a-feeling |
| [PoseIt](https://datasets.gurasees.com/datasets/poseit.md) | grasping | single arm |  |  | 2022 | not stated | open | poseit |
| [SCT-CNN grasp stability dataset](https://datasets.gurasees.com/datasets/sct-cnn-grasp-stability-dataset.md) | grasping | single arm |  |  |  | not stated | not stated | sct-cnn-grasp-stability-dataset |
| [Slip Detection with Combined Tactile and Visual Information](https://datasets.gurasees.com/datasets/slip-detection-with-combined-tactile-and-visual-information.md) | grasping | single arm |  |  | 2018 | not stated | not stated | slip-detection-with-combined-tactile-and-visual-information |
| [Supermarket-6DoF](https://datasets.gurasees.com/datasets/supermarket-6dof.md) | grasping | single arm |  |  | 2025 | not stated | not stated | supermarket-6dof |
| [The Feeling of Success](https://datasets.gurasees.com/datasets/the-feeling-of-success.md) | grasping | single arm |  |  | 2017 | not stated | open | the-feeling-of-success |
| [Tsinghua Visual-Tactile Dataset (Multimodal Grasp Data Set)](https://datasets.gurasees.com/datasets/tsinghua-visual-tactile-dataset-multimodal-grasp-data-set.md) | grasping | single arm |  |  | 2019 | not stated | open | tsinghua-visual-tactile-dataset-multimodal-grasp-data-set |
| [uSkin Slip Dataset](https://datasets.gurasees.com/datasets/uskin-slip-dataset.md) | grasping | single arm |  |  |  | not stated | not stated | uskin-slip-dataset |

Everything that exists: https://datasets.gurasees.com/browse.md