QDGset: A Large Scale Grasping Dataset Generated with QD

IEEE International Conference on Robotics and Automation (ICRA)

Johann Huber 1 , François Hélénon 1 , Mathilde Kappel 1 , Ignacio de Loyola Páez-Ubieta 2 , Santiago T. Puente 2 , Pablo Gil 2 , Faïz Ben Amar 1 , Stéphane Doncieux 1
1 Institut des Systèmes Intelligents et de Robotique (ISIR) & Centre National de la Recherche Scientifique (CNRS) - Sorbonne Université 2AUtomatics, RObotics and Artifivial Vision (AUROVA) Lab & Computer Science Research Institute (IUII) - University of Alicante

Abstract

Recent advances in AI have led to significant results in robotic learning, but skills like grasping remain partially solved. Many recent works exploit synthetic grasping datasets to learn to grasp unknown objects. However, those datasets were generated using simple grasp sampling methods using priors. Recently, Quality-Diversity (QD) algorithms have been proven to make grasp sampling significantly more efficient. In this work, we extend QDG-6DoF, a QD framework for generating object-centric grasps, to scale up the production of synthetic grasping datasets. We propose a data augmentation method that combines the transformation of object meshes with transfer learning from previous grasping repertoires. The conducted experiments show that this approach reduces the number of required evaluations per discovered robust grasp by up to 20 %. We used this approach to generate QDGset, a dataset of 6 DoF grasp poses that contains about 3.5 and 4.5 times more grasps and objects, respectively, than the previous state-of-the-art. Our method allows anyone to easily generate data, eventually contributing to a large-scale collaborative dataset of synthetic grasps.

Results

Comparison of QDGset with available object-centric grasping datasets.
 

BibTeX


@inproceedings{huber2025qdgset,
  title={QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity},
  author={Huber, Johann and H{\'e}l{\'e}non, Fran{\c{c}}ois and Kappel, Mathilde and de Loyola P{\'a}ez-Ubieta, Ignacio and Puente, Santiago T and Gil, Pablo and Amar, Fa{\"\i}z Ben and Doncieux, St{\'e}phane},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={01--08},
  year={2025},
  organization={IEEE},
  doi={10.1109/ICRA55743.2025.11127427}
}
    

Research work was funded by:

  • Sorbonne Center for Artificial Intelligence.
  • Grant 01IS21080 funded by the German Ministry of Education and Research (BMBF).
  • Grant ANR-21-FAI1-0004 funded by the French Agence Nationale de la Recherche (ANR).
  • Grant 101070381 funded by the European Commission's Horizon Europe Framework Programme.
  • Grant 101070596 funded by the European Union's Horizon Europe Framework Programme.
  • Grant PID2021-122685OB-I00 funded by MICIU/AEI/10.13039/501100011033 and by ERDF/EU.

HPC resources were funded by:

  • Grant 20XX-AD011014320 funded by GENCI-IDRIS.